CN107719622B - Behavior logic-based stratospheric airship automatic testing method - Google Patents
Behavior logic-based stratospheric airship automatic testing method Download PDFInfo
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- CN107719622B CN107719622B CN201710941007.7A CN201710941007A CN107719622B CN 107719622 B CN107719622 B CN 107719622B CN 201710941007 A CN201710941007 A CN 201710941007A CN 107719622 B CN107719622 B CN 107719622B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
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- B64B1/06—Rigid airships; Semi-rigid airships
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- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- B64F5/60—Testing or inspecting aircraft components or systems
Abstract
The invention belongs to the field of stratospheric airships near space, and relates to an automatic stratospheric airship testing method based on behavior logic, which gives airship system testing behavior logic and main testing behaviors by analyzing the stratospheric airship control behavior logic, and builds a test mode and a test system of a stratospheric airship test field on the basis; and the design of the function implementation mode of the test program is given. The stratospheric airship automatic testing method based on the behavioral logic can realize automatic testing of the functions of the stratospheric airship system, and the testing system is simple and easy to construct; the method has better universality and does not depend on the technical characteristics of a specific airship system; the airship test instruction is converted into the airship control instruction through the intermediate instruction conversion software, so that the safety of the test action is ensured, and the misoperation possibly caused by directly controlling an airship system is avoided; the test flow is compiled before test by adopting the text document, so that the test preparation time is shortened, and the test efficiency is improved.
Description
Technical Field
The invention belongs to the field of stratospheric airships in near space, relates to an automatic stratospheric airship testing method based on behavioral logic, and is particularly suitable for developing a function assessment test of stratospheric airships in a test field.
Background
The stratospheric airship is a floating aircraft which provides static lift by means of buoyancy lift gas, realizes control flight by means of a propulsion system and a control system, works in a height range with small average wind speed on the stratosphere for a long time and executes a specific task. The stratospheric airship has the capabilities of long-term parking, fixed-point flight and all-weather real-time work, can be widely applied to the fields of earth observation, regional early warning, space detection, remote sensing, communication relay and the like, and has irreplaceable military and civil values.
Generally speaking, a stratospheric airship system is composed of an energy subsystem, a measurement and control subsystem, a security and control subsystem, a flight control subsystem, a structure subsystem and the like. The energy subsystem provides power supply for a stratospheric airship system, and the measurement and control subsystem generally comprises a sight distance link and a satellite communication link of a plurality of wave bands and realizes uploading of control instructions such as safety control instructions and flight control instructions and downloading of data on the airship. The safety control subsystem realizes the release of airship helium and the cutting of structural capsules under emergency conditions, and realizes the emergency landing of the airship during flight tests. The structure subsystem mainly comprises a bag body, various sensors (a temperature sensor, a pressure sensor and the like) arranged on the bag body, a fan, a valve and other execution structures. The flight control subsystem is composed of a flight control computer, an inertial navigation unit and the like, and realizes flight control on the stratospheric airship together with the structural subsystem.
After the development of the stratospheric airship is finished, a flight test needs to be carried out to verify the overall technology of the airship and carry out related applications. Because the stratospheric airship system is complex, in order to ensure the safety of a flight test, the functional examination test of a subsystem of the airship and the whole-system copy test need to be carried out in a test field before the flight test so as to ensure the working reliability of the airship system.
At present, a manual watching and interpreting mode is mostly adopted for system testing before a stratospheric airship flight test, and the mode has the defects of high dependence on testers and low automation degree and testing efficiency. In addition, test interfaces are not reserved in most of airship system development, and certain difficulty is brought to direct execution of actuator unit tests, subsystem tests and the like.
Disclosure of Invention
The invention aims to provide a testing method which meets the requirement of functional testing of a test field stratospheric airship system.
In order to achieve the purpose, the invention provides an automatic test method of a stratospheric airship based on behavior logic, the stratospheric airship comprises an energy subsystem, a measurement and control subsystem, a security control subsystem, a flight control subsystem and a structure subsystem, and the test method comprises the following steps:
s1, obtaining stratospheric airship control behavior logic through the composition and function analysis of stratospheric airship subsystems;
s2, obtaining the behavior logic of the main body of the stratospheric airship system through the stratospheric airship system control behavior logic;
s3, designing a test behavior logic of the stratospheric airship system according to the main body behavior logic of the stratospheric airship system;
s4, test behavior and test flow design
The stratospheric airship test behavior comprises airship test stage selection, airship measurement and control link selection, airship on-board control computer selection and airship execution mechanism selection;
the test flow consists of test behaviors, firstly, selecting a flight test stage, then selecting an airship measurement and control link, then selecting an airship on-board control computer, and finally selecting an airship execution mechanism;
s5, establishing a test mode of the stratospheric airship test field by the stratospheric airship system test behavior logic
The test program sends a test instruction, and the test instruction is converted into a control instruction by intermediate instruction conversion software to control the mode of the ground main control computer of the airship system;
the intermediate instruction conversion software is compiled by an airship system and has the functions of confirming the receiving state of a test instruction, converting the test instruction and a control instruction, completing the format conversion of the airship telemetering data frame and forwarding the airship state data formed after the conversion to a test program;
s6, designing a test field test system according to the test mode of the test field of the stratospheric airship
The test field test system comprises a test program and auxiliary test equipment; the functions of the test program comprise test flow generation, test instruction data frame sending, test instruction receiving state data frame reading, auxiliary test equipment control, airship state data reading and data acquired by the auxiliary test equipment, test execution state judgment and test conclusion giving;
s7, designing a function implementation mode of the test program
S71, the test flow is composed of test behaviors, and the test behaviors are edited in the text document to form a test flow text document;
s72, test behavior definition design in test flow
The test behavior definition adopts a 16-system character form, and is edited in the text document to form a test behavior definition text document;
s73, design of test instruction data frame generation mode
Generating a test instruction data frame by adopting a mode of reading a test flow text document and a test behavior definition text document;
s74, designing the format of the test instruction receiving state data frame and the airship state data frame;
s75, the data frame of the test instruction receiving state and the data frame of the airship state are transmitted by UDP or TCP/IP protocol;
s76, control of auxiliary test equipment
And remote control is realized through the switch and the LAN port.
Furthermore, the energy subsystem comprises an energy manager, an energy storage battery pack and a solar battery pack;
the measurement and control subsystem comprises ship-based measurement and control equipment, an airship system ground measurement and control station and an airship system ground main control computer;
the safety control subsystem comprises a safety control computer, and the flight control subsystem comprises a flight control computer;
the structure subsystem comprises a data acquisition unit and an execution mechanism, wherein the data acquisition unit comprises a temperature sensor, a pressure sensor and an inertial navigation unit, and the execution mechanism comprises a fan, a valve, a motor and an initiating explosive device cutting device.
Further, the logic of the stratospheric airship control behavior obtained in step S1 is as follows:
the data acquisition unit transmits the acquired airship state data to the flight control computer/the safety control computer; the flight control computer downloads airship state data to the ground measurement and control station through the onboard measurement and control equipment in a form of telemetering data; the airship system ground master control computer analyzes the telemetering data received by the ground measurement and control station, judges the state of the airship system according to the telemetering data and sends a control command according to the state of the airship system; the ground measurement and control station of the airship system uploads a control instruction to the onboard measurement and control equipment in a remote control instruction form; the flight control computer/security control computer analyzes the remote control command and controls the relative actuating mechanism and equipment of the airship to actuate; after the actuating mechanism and the equipment are actuated, the state of the airship is changed.
Further, the stratospheric airship system body behavior logic in step S2 is as follows:
the ground main control computer of the airship system analyzes the telemetering data of the measurement and control subsystem, judges the state of the airship system and sends a remote control command to the flight control computer or the safety control computer according to the state of the airship system so as to control the actuation of the actuating mechanism and the equipment.
Further, the logic of the stratospheric airship system test behavior in step S3 is as follows:
and the function test of the airship system is realized by sending a test instruction to control the ground main control computer and receiving the state data forwarded by the ground main control computer. The test instructions are formed from airship system test behaviors.
The stratospheric airship automatic testing method based on the behavioral logic can realize automatic testing of the functions of the stratospheric airship system, and the testing system is simple and easy to construct; the method has better universality and does not depend on the technical characteristics of a specific airship system; the airship test instruction is converted into the airship control instruction through the intermediate instruction conversion software, so that the safety of the test action is ensured, and the misoperation possibly caused by directly controlling an airship system is avoided; the test flow is compiled before test by adopting the text document, so that the test preparation time is shortened, and the test efficiency is improved.
Brief description of the drawings
FIG. 1 is a schematic illustration of stratospheric airship control behavior logic.
Fig. 2 is a schematic diagram of stratospheric airship body behavior logic.
Fig. 3 is a schematic diagram of stratospheric airship system test behavior logic.
Fig. 4 is a schematic flow chart of the overall behavior of the stratospheric airship test.
FIG. 5 is a schematic view of a stratospheric airship test field test pattern.
FIG. 6 is a test behavior definition in accordance with an embodiment.
FIG. 7 shows a test flow in an embodiment.
FIG. 8 is a compiled test program functional interface.
Detailed Description
An automatic stratospheric airship testing method based on behavioral logic comprises an energy subsystem, a measurement and control subsystem, a security control subsystem, a flight control subsystem and a structure subsystem, wherein the energy subsystem comprises an energy manager, an energy storage battery pack and a solar battery pack; the measurement and control subsystem comprises ship-based measurement and control equipment, an airship system ground measurement and control station and an airship system ground main control computer; the safety control subsystem comprises a safety control computer, and the flight control subsystem comprises a flight control computer; the structure subsystem comprises a data acquisition unit and an execution mechanism, wherein the data acquisition unit comprises a temperature sensor, a pressure sensor and an inertial navigation unit, and the execution mechanism comprises a fan, a valve, a motor and an initiating explosive device cutting device. The airship-carried stratospheric airship equipment is integrated in an airship avionic equipment nacelle, and data acquisition units such as sensors, fans, valves, motors and the like and execution mechanisms can be arranged on the ground.
The test method comprises the following steps:
s1, obtaining stratospheric airship control behavior logic through the composition and function analysis of stratospheric airship subsystems;
the stratospheric airship control behavior logic may be summarized as the logical behavior shown in fig. 1. The data acquisition units such as the temperature sensor, the pressure sensor, the inertial navigation unit and the like transmit acquired airship state data to the flight control computer/the safety control computer; the flight control computer downloads airship state data to the ground measurement and control station through the onboard measurement and control equipment in a form of telemetering data; the airship system ground master control computer analyzes the telemetering data received by the ground measurement and control station, judges the state of the airship system according to the telemetering data and sends a control command according to the state of the airship system; the ground measurement and control station of the airship system uploads a control instruction to the onboard measurement and control equipment in a remote control instruction form; the flight control computer/security control computer analyzes the remote control command and controls the relative actuating mechanism and equipment of the airship to actuate; after the actuating mechanism and the equipment are actuated, the state of the airship is changed.
S2, obtaining the behavior logic of the main body of the stratospheric airship system through the stratospheric airship system control behavior logic;
as shown in fig. 2, the ground main control computer of the airship system analyzes the telemetering data of the measurement and control subsystem, judges the state of the airship system, and sends a remote control command to the flight control computer or the safety control computer according to the state of the airship system to control the actuation of the execution mechanism and the equipment.
S3, designing a test behavior logic of the stratospheric airship system according to the main body behavior logic of the stratospheric airship system; the behavior logic of the main body of the stratospheric airship system can know that the ground main control computer is the control main body of the airship system. Thus, as shown in fig. 3, the stratospheric airship system test behavior logic is: and the function test of the airship system is realized by sending a test instruction to control the ground main control computer and receiving the state data forwarded by the ground main control computer. The test instructions are formed from airship system test behaviors.
S4, test behavior and test flow design
The stratospheric airship test behavior comprises airship test stage selection (namely selection of four stages of ground, ascending, parking and descending), airship measurement and control link selection (namely selection of a sight distance link or a satellite communication link), airship on-board control computer selection (namely selection of an airship control computer or an airship safety control computer) and airship execution mechanism selection (namely selection of execution mechanisms such as a fan, a valve, a motor, an initiating explosive device cutting device and the like);
the test flow is composed of test behaviors, the overall test flow is shown in figure 4, firstly, selection is carried out in a flight test stage, then, airship measurement and control link selection is carried out, then, airship on-board control computer selection is carried out, and finally, airship execution mechanism selection is carried out;
s5, establishing a test mode of the stratospheric airship test field by the stratospheric airship system test behavior logic
As shown in fig. 5, the test program sends a test command, and the test command is converted into a control command by the intermediate command conversion software to control the mode of the ground main control computer of the airship system;
the intermediate instruction conversion software is compiled by an airship system and has the functions of confirming the receiving state of a test instruction, converting the test instruction and a control instruction, completing the format conversion of the airship telemetering data frame and forwarding the airship state data formed after the conversion to a test program;
the judgment of the test execution state depends on the airship state data forwarded by the test program analysis intermediate instruction conversion software and the data acquired by the auxiliary test equipment.
This test mode has the following advantages: because the control instruction format of the stratospheric airship systems of various types researched and developed by a plurality of research units is inconsistent with the format of the telemetering data frame, the airship system can adapt to the stratospheric airship systems of various types through intermediate instruction conversion software; the safety of the test behavior can be ensured, and the misoperation possibly caused by directly controlling the ground main control computer of the airship system by the test procedure in the test field can be avoided.
S6, designing a test field test system according to the test mode of the test field of the stratospheric airship
The test field test system comprises a test program and auxiliary test equipment; the functions of the test program comprise test flow generation, test instruction data frame sending, test instruction receiving state data frame reading, auxiliary test equipment control, airship state data reading and data acquired by the auxiliary test equipment, test execution state judgment and test conclusion giving;
the auxiliary test equipment comprises a spectrum analyzer and a power meter;
according to behavior logic of a main body of an airship on a stratosphere, an airship measurement and control subsystem is a key node for connecting airship onboard equipment and an airship system ground main control computer, the airship measurement and control subsystem comprises a plurality of line-of-sight communication links such as UHF, L, S and C and a satellite communication link, and auxiliary test equipment such as an antenna, a microwave cable and a spectrum analyzer can be adopted for monitoring the switching state and the on-off state of the airship measurement and control link.
S7, designing a function implementation mode of the test program
S71, the test flow is composed of test behaviors, and the test behaviors are edited in the text document according to the overall test flow shown in FIG. 4 to form a test flow text document;
s72, test behavior definition design in test flow
The test behavior definition adopts a 16-system character form and is shown in table 1, wherein the selection of a flight test stage is represented by 01-09, the selection of an airship measurement and control link is represented by A0-BF, the selection of an airship on-board control computer is represented by C0-CF, and the selection of an airship actuator is represented by D0-EF. The definition of the test behavior is not limited to this, and may be defined in order from 00 to FF according to the actual situation. Editing the test behavior definition in a text document to form a test behavior definition text document;
TABLE 1
S73, design of test instruction data frame generation mode
Generating a test instruction data frame by adopting a mode of reading a test flow text document and a test behavior definition text document; firstly, reading the test behavior in the test flow text document, then finding out the hexadecimal character representing the test behavior from the test behavior definition text document, and finally, taking the hexadecimal character as a data segment and adding a frame head and a frame tail in front of the data segment to form a test instruction data frame. The format of the test command data frame is shown in table 2, and includes a frame header, a data segment content length, a data segment, and a frame tail (checksum).
TABLE 2
S74, designing the format of the test instruction receiving state data frame and the airship state data frame; the test instruction receiving state data frame is generated and sent to the test program by the intermediate instruction conversion software after receiving the test instruction, the frame format is shown in table 3, byte 4 represents the test instruction receiving state, hexadecimal characters represent 4 states, 01 represents that receiving and execution are successful, 02 represents that verification is wrong, 03 represents that the condition cannot be executed, and 04 represents that execution is overtime. The airship state data is generated by airship telemetering data, the airship state data in the telemetering data is extracted, and the frame format conversion is completed by intermediate instruction conversion software and then the airship state data is sent to a test program. The format of the airship status data frame is shown in table 4, and is composed of a fixed frame header, a data segment (airship status), and a frame tail (checksum).
TABLE 3
TABLE 4
S75, the data frame of the test instruction receiving state and the data frame of the airship state are transmitted by UDP or TCP/IP protocol;
s76, control of auxiliary test equipment
The auxiliary test equipment is mainly used for controlling desk-top instruments such as a spectrum analyzer and a power meter. The remote control is realized through the switch and the LAN port, and the control mode is convenient for expanding the controlled instrument according to the test requirement.
The method of the present invention is further described below with reference to the accompanying drawings 1 to 5 and tables 1 to 4 in conjunction with specific test examples.
Example one
The stratospheric airship system to be tested is developed by a certain Beijing unit, the test is developed on the basis that the airship system completes the integration of key subsystems, and the airship system compiles intermediate instruction conversion software based on the method. The method is used for testing the airship Beidou security control system.
(1) The Beidou security control system controls behavior logic. The airship ground main control computer sends a safety control instruction in a short message form through a Beidou terminal in the measurement and control subsystem; the shipborne flight control computer controls the valve to actuate after receiving the security control instruction; after the valve is actuated, the valve state data is transmitted to the ground main control computer by the flight control computer through the Beidou terminal.
(2) Test behavior logic and test patterns. According to the embodiment shown in fig. 2 and 3, the actuator is only a valve.
(3) And (6) testing the behavior. Selecting a flight test stage as a ground debugging stage; selecting the airship measurement and control link as a Beidou communication link (other links are switched off); the airship on-board control computer is selected as a flight control computer (the system has no safety control computer and can not be selected); the airship actuating mechanism is selected as a valve.
(4) And testing the behavior definition. According to table 1, hexadecimal characters represent, and 01 represents the ground debugging stage; a1, representing the open Beidou communication link; e1, for valve open, E0 for valve closed. The test behavior definition text is shown in figure 6.
(5) Byte 2 in the airship system status data represents the valve status, a0 represents that the valve has been closed; a1 represents that the valve has been opened.
(6) And editing the test flow. Text documents are input in a row mode according to the sequence of the ground debugging stage, the Beidou communication link opening, the valve opening and the valve closing, and the test flow text is shown in the figure 7.
(7) A test program is written and the test program interface is shown in fig. 8. The auxiliary test equipment is mainly used for controlling the spectrum analyzer in the test, and a monitoring system consisting of the spectrum analyzer and the antenna is used for monitoring the working state of a link in the measurement and control subsystem.
(8) The method is used for sending 100 Beidou safety control system control valve opening/closing instructions. In the test process, the auxiliary test equipment does not monitor the line-of-sight communication link signal, and only monitors the microwave signal which is transmitted by the Beidou terminal when the Beidou terminal sends the short message and is within the range of 1.610 GHz-1.626 GHz. 99 control valves in 100 test instructions successfully act, the control success rate of the Beidou safety control system is greater than 98%, and the test conclusion is qualified.
Claims (5)
1. An automatic stratospheric airship testing method based on behavior logic is characterized in that the testing method comprises the following steps:
s1, obtaining stratospheric airship control behavior logic through the composition and function analysis of stratospheric airship subsystems;
s2, obtaining the behavior logic of the main body of the stratospheric airship system through the stratospheric airship system control behavior logic;
s3, designing a test behavior logic of the stratospheric airship system according to the main body behavior logic of the stratospheric airship system;
s4, testing behaviors and designing a testing flow;
the stratospheric airship test behavior comprises airship test stage selection, airship measurement and control link selection, airship on-board control computer selection and airship execution mechanism selection;
the test flow consists of test behaviors, firstly, selecting a flight test stage, then selecting an airship measurement and control link, then selecting an airship on-board control computer, and finally selecting an airship execution mechanism;
s5, establishing a test mode of the stratospheric airship test field by the stratospheric airship system test behavior logic
The test program sends a test instruction, and the test instruction is converted into a control instruction by intermediate instruction conversion software to control the mode of the ground main control computer of the airship system;
the intermediate instruction conversion software is compiled by an airship system and has the functions of confirming the receiving state of a test instruction, converting the test instruction and a control instruction, completing the format conversion of the airship telemetering data frame and forwarding the airship state data formed after the conversion to a test program;
s6, designing a test field test system according to the test mode of the test field of the stratospheric airship
The test field test system comprises a test program and auxiliary test equipment; the functions of the test program comprise test flow generation, test instruction data frame sending, test instruction receiving state data frame reading, auxiliary test equipment control, airship state data reading and data acquired by the auxiliary test equipment, test execution state judgment and test conclusion giving;
s7, designing a function implementation mode of the test program
S71, the test flow is composed of test behaviors, and the test behaviors are edited in the text document to form a test flow text document;
s72, test behavior definition design in test flow
The test behavior definition adopts a 16-system character form, and is edited in the text document to form a test behavior definition text document;
s73, design of test instruction data frame generation mode
Generating a test instruction data frame by adopting a mode of reading a test flow text document and a test behavior definition text document;
s74, designing the format of the test instruction receiving state data frame and the airship state data frame;
s75, the data frame of the test instruction receiving state and the data frame of the airship state are transmitted by UDP or TCP/IP protocol;
s76, control of auxiliary test equipment
And remote control is realized through the switch and the LAN port.
2. The behavior logic-based stratospheric airship automatic testing method according to claim 1, wherein the energy subsystem comprises an energy manager, an energy storage battery pack and a solar battery pack;
the measurement and control subsystem comprises ship-based measurement and control equipment, an airship system ground measurement and control station and an airship system ground main control computer;
the safety control subsystem comprises a safety control computer, and the flight control subsystem comprises a flight control computer;
the structure subsystem comprises a data acquisition unit and an execution mechanism, wherein the data acquisition unit comprises a temperature sensor, a pressure sensor and an inertial navigation unit, and the execution mechanism comprises a fan, a valve, a motor and an initiating explosive device cutting device.
3. The method for automatically testing the stratospheric airship based on behavior logic according to claim 1, wherein the stratospheric airship control behavior logic obtained in the step S1 is as follows:
the data acquisition unit transmits the acquired airship state data to the flight control computer/the safety control computer; the flight control computer downloads airship state data to the ground measurement and control station through the onboard measurement and control equipment in a form of telemetering data; the airship system ground master control computer analyzes the telemetering data received by the ground measurement and control station, judges the state of the airship system according to the telemetering data and sends a control command according to the state of the airship system; the ground measurement and control station of the airship system uploads a control instruction to the onboard measurement and control equipment in a remote control instruction form; the flight control computer/security control computer analyzes the remote control command and controls the relative actuating mechanism and equipment of the airship to actuate; after the actuating mechanism and the equipment are actuated, the state of the airship is changed.
4. The method for automatically testing the stratospheric airship based on behavior logic according to claim 1, wherein the behavior logic of the main body of the stratospheric airship system in the step S2 is as follows:
the ground main control computer of the airship system analyzes the telemetering data of the measurement and control subsystem, judges the state of the airship system and sends a remote control command to the flight control computer or the safety control computer according to the state of the airship system so as to control the actuation of the actuating mechanism and the equipment.
5. The method for automatically testing the stratospheric airship based on behavior logic according to claim 1, wherein the stratospheric airship system testing behavior logic in the step S3 is as follows:
the function test of the airship system is realized by sending a test instruction to control the ground main control computer and receiving state data forwarded by the ground main control computer, and the test instruction is formed according to the test behavior of the airship system.
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| CN106598032A (en) * | 2016-12-28 | 2017-04-26 | 中国航空工业集团公司西安飞机设计研究所 | Test system of automatic flight control system |
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