CN108346342B - Analogue system for astronaut training - Google Patents
Analogue system for astronaut training Download PDFInfo
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- CN108346342B CN108346342B CN201810176013.2A CN201810176013A CN108346342B CN 108346342 B CN108346342 B CN 108346342B CN 201810176013 A CN201810176013 A CN 201810176013A CN 108346342 B CN108346342 B CN 108346342B
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- subsystem
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- offline mode
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
Abstract
The present invention relates to a kind of analogue systems for astronaut training, including flight course control subsystem, are configured with mission program thereon；Spacecraft software feature simulation subsystem, for simulating the parameter or characteristic of astronaut training's needs；Spacefarer perceives subsystem, for simulating operation of the spacefarer to spacecraft；Console, for the mission program from the flight course control subsystem to be sent to the spacecraft software feature simulation subsystem and spacefarer perception subsystem so that the analogue system is operated according to the mission program, and realizes that the flight course control subsystem, the spacecraft software feature simulation subsystem and the spacefarer perceive the communication between subsystem.The working condition of real simulation flight course of the present invention overcomes and solidifies mission program and can not adapt to the polynary variation relation of mission program, not can guarantee offline mode switching real-time, continuity and the problems such as poor universality.
Description
Technical field
The present invention relates to aircraft simulation technical field more particularly to a kind of analogue systems for astronaut training.
Background technique
A step important as manned space flight second stage, spacecrafts rendezvous task have extremely China's space industry
Aerial mission the most complicated in important meaning and China's space flight history.Spacecrafts rendezvous process needs the participation of spacefarer,
It is required that spacefarer can skillfully and accurately operate, and while encountering abnormal phenomenon, can be in first time identification row
It removes, therefore, spacefarer needs to be trained for a long time on ground.Astronaut training is controlled with analogue system by mission program whole
The flight course of a training should can simulate normal flight course in flight course, it is desirable that various failure moulds can be arranged
Formula, to meet astronaut training's requirement.
At present using the astronaut training's spacecraft simulation system for solidifying mission program driving, this system is lacked there are following
It falls into:
1. the mission program of spacecrafts rendezvous task has the characteristics that the period is long, the stage is more, time timing mode is complicated, solidification
Mission program can not adapt to the polynary variation relation of mission program.
2. spacecrafts rendezvous task is that spacefarer's life and Mission Success consider, a large amount of fault mode and emergency mould are proposed
Formula, spacefarer need to be carried out the training of various failures and emergency operation with spacecraft simulation system using astronaut training, and consolidate
Changing mission program does not support segmentation to be multiplexed, and cannot achieve the real-time of fault initiating, and the seamless rank with normal flight program
It connects.
3. requiring astronaut training that there is versatility with analogue system in actual development process, range of models can adapt to
The variability of the otherness and each spacecraft flight program of mission program between multiple spacecrafts requirements, and solidify mission program
It is bound completely with total simulation software, influences time and the quality of astronaut training.
Summary of the invention
It is an object of the invention to solve above-mentioned technical problem, a kind of analogue system for astronaut training is provided, very
The working condition of real simulated flight process, overcome solidify mission program can not adapt to the polynary variation relation of mission program, can not
The problem of guaranteeing offline mode switching real-time, continuity and poor universality.
To achieve the above object, the present invention provides a kind of analogue system for astronaut training, comprising:
Flight course control subsystem is configured with mission program thereon；
Spacecraft software feature simulation subsystem, for simulating the parameter or characteristic of astronaut training's needs；
Spacefarer perceives subsystem, for simulating operation of the spacefarer to spacecraft；
Console, for the mission program from the flight course control subsystem to be sent to the spacecraft
Software feature simulation subsystem and the spacefarer perceive subsystem so that the analogue system is operated according to the mission program,
And realize that the flight course control subsystem, the spacecraft software feature simulation subsystem and the spacefarer perceive subsystem
Communication between system.
Preferably, the mission program includes:
Mission program configuration layer, including mission program always configure；
Offline mode configuration layer, including multiple flights obtained from the mission program is decomposed according to offline mode
Pattern configurations；
Section configuration layer, including each offline mode is divided into the configuration of section obtained from multistage；
Instruction level, including each section of corresponding instruction and command chain.
Preferably, the configuration of the multiple offline mode include normal flight pattern configurations, the configuration of spacecrafts rendezvous offline mode,
The configuration of failure offline mode, the configuration of emergency offline mode, manual offline mode configuration.
Preferably, flight course control software is also configured in the flight course control subsystem, for flying to described
Line program is parsed.
Preferably, it in each offline mode, will be executed under instruction or same trigger condition with identical relative time
Instruction setting divide section in a section, or according to the switching condition of each offline mode.
Preferably, the instruction in each section and command chain arrange sequentially in time.
Preferably, using based on time trigger, the strategy of condition triggering auxiliary dispatch the mission program.
Preferably, in the spacecraft software feature simulation subsystem, simulation include posture, track, propulsion, thermal control, ring control,
The parameter or characteristic that the astronaut trainings such as docking mechanism need.
Preferably, spacefarer's perception subsystem includes:
Terminal computer, for realizing the communication between console；
Equipment is shown, for showing the various parameters in flight course；
Operating device is realized according to the parameter that the display equipment is shown to spacecraft in flight course for spacefarer
Operation.
Analogue system for astronaut training of the invention, mission program are four-layer structure, and mission program is divided into
Lesser section of granularity of set can configures for different offline mode to be arranged the attribute of section configuration, such as section is opened
Begin time and end time, the direction of section, the relative time of section etc., can so guarantee that analogue system of the invention can adapt to
The polynary situation of change of mission program.
In addition, mission program is divided into mission program configuration layer, offline mode configures in analogue system of the invention
Layer, section configuration layer and instruction configuration layer do not need when so that mission program file needing to modify based in simulation process
Software is modified, can be met the requirements only by modification mission program configuration, so that operation becomes simple and convenient.
Analogue system according to the present invention for astronaut training, uses in mission program scheduling process with Duan Weidan
The scheduling of position can be realized the real-time and continuity of offline mode switching.Flight is realized by multi-layer configuration structure simultaneously
Independence of the program relative to total simulation software, software only realize the parsing of the multilayered structure to mission program configuration, flight
The composition of program and variation are embodied in mission program configuration scheme, for example, be arranged in flight course offline mode type,
At the beginning of the switching of offline mode, section and the attributes such as end time, being completely exfoliated for configuration file and software is realized, is had
There is the features such as using flexible is easy, maintainable strong.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the composition figure for schematically showing the analogue system according to the present invention for astronaut training；
Fig. 2 is the concrete composition and flight journey for schematically showing the analogue system for astronaut training according to Ben Famin
The diagram of sequence driving data stream；
Fig. 3 is to schematically show the mission program configuration diagram for the analogue system of astronaut training according to the present invention；
Fig. 4 is to schematically show that flight course control subsystem according to the present invention is directed to the Scheduling Flow of mission program configuration
Cheng Tu.
Specific embodiment
The description of this specification embodiment should be combined with corresponding attached drawing, and attached drawing should be used as the one of complete specification
Part.In the accompanying drawings, the shape of embodiment or thickness can expand, and to simplify or facilitate mark.Furthermore it is respectively tied in attached drawing
The part of structure will be to describe to be illustrated respectively, it is notable that the member for being not shown in the figure or not being illustrated by text
Part is the form known to a person of ordinary skill in the art in technical field.
The description of embodiments herein, any reference in relation to direction and orientation, is merely for convenience of describing, and cannot manage
Solution is any restrictions to the scope of the present invention.It can be related to the combination of feature below for the explanation of preferred embodiment,
These features may be individually present or combine presence, and the present invention is not defined in preferred embodiment particularly.The present invention
Range be defined by the claims.
Fig. 1 is the composition figure for schematically showing the analogue system according to the present invention for astronaut training.Fig. 2 is signal
Property indicate according to the concrete composition of the analogue system for astronaut training and showing for mission program driving data stream of Ben Famin
Figure.As shown in Figure 1 and Figure 2, the analogue system 10 for astronaut training of the invention include flight course control subsystem 101,
Spacecraft software feature simulation subsystem 102, spacefarer perceive subsystem 103 and console 104.
As shown in Fig. 2, being configured with mission program in flight course control subsystem 101 of the invention, mission program is responsible for
Organize the mission program under the various modes such as normal flight program, failure mission program, manual mission program.
As shown in Fig. 2, spacecraft software feature simulation subsystem 102 can be made of one or more computer, every calculating
Each subsystem simulation software is respectively arranged on machine, for establishing the moulds such as each measurement sensor, executing agency, spacecraft running environment
Type, simulation include the parameter or characteristic that the boat astronaut training such as posture, track, propulsion, thermal control, ring control, docking mechanism needs,
The instruction generated in flight course and analogue data are transmitted to console 104, are transmitted to other devices by console 104.
As shown in Fig. 2, spacefarer perceives subsystem 103 for simulating operation of the spacefarer to spacecraft, including terminal meter
Calculation machine, display equipment and operating device.Wherein terminal computer is used for the communication between all kinds of awareness apparatus and console 104,
Display equipment is used to show that the various parameters in flight course, operating device to be set in flight course according to display for spacefarer
The parameter of standby display realizes the operation to spacecraft.
Specifically, spacefarer perceives subsystem 103 by several spacefarer such as spacecraft display device, the operating devices simulated
The equipment directly contacted and a terminal computer composition, terminal computer is for realizing the communication between operation equipment and console
Function.Display device observes instrument display parameters and sends manual control and enables for spacefarer, and operating device can provide spacefarer and exist
The various operations that may be used in flight course, appearance, man-machine interface size, function, application method, dynamics feel,
Operation response, operating method and feedback result should be consistent with true spacecraft equipment, and terminal computer is for realizing all kinds of perception
Communication function between equipment and console.
As shown in Fig. 2, console 104 is the computer equipped with system controlling software, for that will control from flight course
The mission program of subsystem 101 is sent to spacecraft software feature simulation subsystem 102 and spacefarer perceives subsystem 103 so that imitative
True system is operated according to configurable mission program, and realizes that flight course control subsystem 101, spacecraft software feature are imitative
True subsystem 102 and spacefarer perceive the communication between subsystem 103.I.e. console 104 is used to carry out entire analogue system
Emulation starts, the control of emulation technology, investment failure, contact fault etc..
As shown in Fig. 2, configurable mission program is located in flight course control subsystem 101, it can be by flight course control
For subsystem 101 with the transmission instructed in time stepping method simulated flight program, mission program is signified along dotted arrow in Fig. 2
Direction transmission, is sent by flight course control subsystem 101 to console 104 first, then by console 104 to be transmitted to spacecraft soft
Characteristic Simulation subsystem 102 and spacefarer perceive subsystem 103, to realize the emulation system for astronaut training of the invention
System 10 is run according to set mission program.
The mission program configured in flight course control subsystem 101 of the present invention is the mission program of multilayered structure.Specifically
For, mission program FC includes plurality of flight FM, i.e. FC={ fm1, fm2 ..., fmn }, and n > 0, n are offline mode number.
And each offline mode includes a plurality of instruction CD, FM={ cd1, cd2 ..., cdm }, m > 0, m is the finger under corresponding offline mode
Enable number.Each offline mode (offline mode title is calculated as Nmode) all has entry time STmode, end time ETmode
And the attribute of switching condition Pmode, the analogue system self maintained one time T being continually incremented, when offline mode is switched
Between Tmode relative to the time difference of analogue system time T be calculated as XTmode, i.e., the attribute of offline mode include Nmode,
STmode, ETmode, XTmode, Pmode }.Each instruction (instruction name is calculated as Ncmd) all has sending time Tcmd or touching
Instruction sending time Tcmd is calculated as ETcmd relative to the time difference of analogue system time T, that is, flown by the attribute of clockwork spring part Pcmd
The attribute of row mode includes { Ncmd, Tcmd, ETcmd, Pcmd }.In the present invention, it is also introduced between instruction and offline mode
The concept of section SG (name section is calculated as Nsg), SG={ cd1, cd2 ..., cdl }, l > 0, l are number of instructions in the section, the triggering of section
The relationship for the trigger condition Pcmd that condition Psg and pattern switching Pmode, instruction are sent is Psg=Pcmd ∪ Pmode, the category of section
Property (entry time STsg, end time ETsg, switching condition Psg and section cut on the basis of inheriting the attribute of offline mode
Change the attribute that the time is calculated as XTsg relative to the time difference of analogue system time T), it further include being directed toward next section of attribute (i.e.
SGnext), i.e., { Nsg, STsg, ETsg, XTsg, Psg, SGnext }.In conclusion mission program composition may be expressed as:
It is specifically described referring to Fig. 3:
Fig. 3 is to schematically show the mission program configuration diagram for the analogue system of astronaut training according to the present invention.Such as
Shown in Fig. 3, in the present embodiment, the mission program in flight course control subsystem 101 is the mission program of 4 layers of structure.
Mission program is realized using the mission program configuration file of 4 layer architecturesRelationship, i.e. flight journey
Sequence includes mission program configuration layer, offline mode configuration interval configuration layer and instruction level.Specifically, mission program can be matched
It sets and is decomposed according to parting mode, resolve into multiple offline mode configurations, including normal flight pattern configurations, spacecrafts rendezvous fly
Row pattern configurations, the configuration of failure offline mode, the configuration of emergency offline mode and manual offline mode configuration etc., form mission program
Total configuration file.
And each offline mode configuration includes multiple sections of configurations.It specifically, can be according to the flight of spacecrafts rendezvous task
Program extracts section configuration, will have identical relative time ETcmd instruction or same trigger condition Pcmd in each offline mode
Under instruction be set as the configuration of section, or draw segmented configuration according to the pattern switching Pmode of each offline mode, and be arranged
The attribute of each offline mode configuration is { Nmode, STmode, ETmode, XTmode, Pmode }, forms each offline mode and matches
Set file.
Each of section configuration layer section configuration includes instruction and command chain, and instruction and command chain form instruction level.Each section is matched
Instruction and command chain in setting temporally are arranged, and it is fixed for instructing the relative ranks between command chain, and setting is each
The attribute of section configuration is { Nsg, STsg, ETsg, XTsg, Psg, SGnext }, forms each section of configuration file.
Flight course control subsystem 101 of the invention is additionally provided with flight course control software, for flying
Cheng Jinhang parsing and scheduling.Analogue system according to the present invention for astronaut training, in flight course control subsystem 101
In, layered structure that software configures mission program is controlled according to (being configured to from up to down from mission program by flight course
Instruction configuration layer) mode parsed, mission program parsing attribute extracted from mission program configuration file, realize text
Part and software are completely exfoliated.
In addition, mission program uses based on time trigger, condition triggers the tune assisted in analogue system of the invention
Degree strategy.Time trigger refers to that the instruction in each section arranges sequentially in time, and the section in each offline mode is according to the time
Sequence arranges, and the time sends to i.e. triggering command or the change event of section.It is touched when encountering offline mode switching using Psg condition
The change event for sending out section, is still scheduled according to time triggering mode after converting.Scheduling relationship between section is as follows:
Sg (i) -> sg (i+1), sg (i) ∈ fm (x), sg (i+1) ∈ fm (x), as T >=ETsgi, and T >=STsgi+1sg
(i) -> sg (i+1), sg (i) ∈ fm (x), sg (i+1) ∈ fm (x+1), as T >=ETsgi, and T >=STsgi+1sg(i)->sg
(j), sg (i) ∈ fm (x), sg (j) ∈ fm (x), as T >=ETsgi, PsgjCondition meets sg (i) -> sg (j), sg (i) ∈ fm
(x), sg (j) ∈ fm (y), as T >=ETsgi, PsgjCondition meets.
It is illustrated referring to scheduling process of the Fig. 4 to mission program:
Fig. 4 is to schematically show that flight course control subsystem according to the present invention is directed to the Scheduling Flow of mission program configuration
Cheng Tu.As shown in figure 4, scheduling flow is as follows: after analogue system brings into operation, mission program is parsed, and is referred to by analogue system
Fixed offline mode and corresponding section of flight starting point configuration start to emulate, then obtain analogue system current time T as when
Between benchmark, later acquisition instruction execute time Tcmd ', by comparing current time T and Tcmd ' judgement when leading portion configuration in whether
There is instruction to issue, issue instruction if T >=Tcmd ', then obtains and work as leading portion end time ETsg ', if T < Tcmd '
Instruction is not issued then directly carries out next step acquisition as leading portion end time ETsg '.Then judge whether T >=ETsg ' is true,
If invalid, whether the interpretation that repeats the above steps has instruction to issue.If set up, further judge in offline mode whether
Meet the time trigger condition of section, if satisfied, then will be set as repeating the above steps when leading portion when next section of leading portion direction.If
It is unsatisfactory for, then further determines whether to meet offline mode time-event trigger condition, if satisfied, then referring to current flight mode
To new offline mode in section be set as repeating the above steps when leading portion, if not satisfied, continuing to judge whether emulation terminates, wrap
It includes and judges whether simulation time terminates whether to be finished with emulator command, stop emulating if emulating end, if being not finished,
Next section of configuration is emulated according to time trigger sequence.
Analogue system for astronaut training of the invention, mission program are four layers of mechanism, and mission program is divided into
Lesser section of granularity of set can configures for different offline mode to be arranged the attribute of section configuration, such as section is opened
Begin time and end time, the direction of section, the relative time of section etc., can so guarantee that analogue system of the invention can adapt to
The polynary situation of change of mission program.
In addition, mission program is divided into mission program configuration layer, offline mode configures in analogue system of the invention
Layer, section configuration layer and instruction configuration layer do not need when so that mission program file needing to modify based in simulation process
Software is modified, can be met the requirements only by modification mission program configuration, so that operation becomes simple and convenient.
Analogue system according to the present invention for astronaut training, uses in mission program scheduling process with Duan Weidan
The scheduling of position can be realized the real-time and continuity of offline mode switching.Flight is realized by multi-layer configuration structure simultaneously
Independence of the program relative to total simulation software, software only realize the parsing of the multilayered structure to mission program configuration, flight
The composition of program and variation are embodied in mission program configuration scheme, for example, be arranged in flight course offline mode type,
At the beginning of the switching of offline mode, section and the attributes such as end time, being completely exfoliated for configuration and software is realized, having makes
With flexible and convenient, it is maintainable strong the features such as.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of analogue system for astronaut training, which is characterized in that the analogue system includes:
Flight course control subsystem is configured with mission program thereon；
Spacecraft software feature simulation subsystem, for simulating the parameter or characteristic of astronaut training's needs；
Spacefarer perceives subsystem, for simulating operation of the spacefarer to spacecraft；
Console, for the mission program from the flight course control subsystem to be sent to the soft spy of the spacecraft
Property simulation subsystem and the spacefarer perceive subsystem so that the analogue system is operated according to the mission program, and
Realize the flight course control subsystem, the spacecraft software feature simulation subsystem and the spacefarer perceive subsystem it
Between communication；
The mission program includes:
Mission program configuration layer, including mission program always configure；
Offline mode configuration layer, including multiple offline mode obtained from the mission program is decomposed according to offline mode
Configuration；
Section configuration layer, including each offline mode is divided into the configuration of section obtained from multistage；
Instruction level, including each section of corresponding instruction and command chain.
2. analogue system according to claim 1, which is characterized in that the multiple offline mode configuration includes normal flight
Pattern configurations, the configuration of spacecrafts rendezvous offline mode, the configuration of failure offline mode, the configuration of emergency offline mode, manual offline mode
Configuration.
3. analogue system according to claim 1, which is characterized in that be also configured in the flight course control subsystem
Flight course controls software, for parsing to the mission program.
4. analogue system according to claim 1, which is characterized in that in each offline mode, will have identical opposite
The instruction executed under the instruction of time or same trigger condition is arranged in a section, or according to the switching of each offline mode
Condition divides section.
5. analogue system according to claim 1, which is characterized in that the instruction and command chain in each section are suitable according to the time
Sequence arranges.
6. analogue system according to claim 1, which is characterized in that using based on time trigger, condition triggering auxiliary
Strategy dispatches the mission program.
7. analogue system according to claim 1, which is characterized in that in the spacecraft software feature simulation subsystem,
Simulate parameter or characteristic that astronaut training needs, including posture, track, propulsion, thermal control, ring control and docking mechanism.
8. analogue system according to claim 1, which is characterized in that the spacefarer perceives subsystem and includes:
Terminal computer, for realizing the communication between console；
Equipment is shown, for showing the various parameters in flight course；
Operating device realizes the behaviour to spacecraft for spacefarer in flight course according to the parameter that the display equipment is shown
Make.
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| CN1294510C (en) * | 2003-01-28 | 2007-01-10 | 中国南方航空股份有限公司 | Computer-aided teaching system and method for stimulated aviation training |
| US7848698B2 (en) * | 2005-07-22 | 2010-12-07 | Appareo Systems Llc | Flight training and synthetic flight simulation system and method |
| CN101833498B (en) * | 2009-07-31 | 2012-06-06 | 北京伟晨豪嘉科技有限责任公司 | Automatic detection system of embedded type system based on testing script technique |
| CN105182770B (en) * | 2015-08-27 | 2018-03-09 | 北京控制工程研究所 | A kind of spacecraft semi-physical simulation experimental system and method based on rotor craft |
| CN106569801B (en) * | 2016-10-18 | 2020-04-10 | 中国运载火箭技术研究院 | Configuration display and control system based on complex parameters |
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