CN109471424B - Ground simulation test system and method for large-angle momentum rotating part - Google Patents
Ground simulation test system and method for large-angle momentum rotating part Download PDFInfo
- Publication number
- CN109471424B CN109471424B CN201811475432.2A CN201811475432A CN109471424B CN 109471424 B CN109471424 B CN 109471424B CN 201811475432 A CN201811475432 A CN 201811475432A CN 109471424 B CN109471424 B CN 109471424B
- Authority
- CN
- China
- Prior art keywords
- momentum
- rotating part
- satellite
- angle
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention relates to a ground simulation test system and method for a large-angle momentum rotating component, wherein the system comprises a large-angle momentum rotating component simulation host machine and a large-angle momentum rotating component remote control loader; the invention adopts a hardware interface which is the same as the real load, and solves the problems that the spaceborne computer receives the data of the large-angle momentum rotating part in real time and carries out angular momentum compensation control. The invention can truly reflect the hardware interface and physical characteristics of the large-angle momentum rotating component, and has the characteristics of good interface consistency, real-time parameter modification, fault simulation, good expansibility and the like.
Description
Technical Field
The invention relates to the field of satellite attitude control system testing, in particular to a large-angular momentum rotating part ground simulation testing system and method.
Background
The microwave radiometer is an effective load of a certain satellite, a detection head of the microwave radiometer is used as a large-angle momentum rotating component, the microwave radiometer needs to be unfolded and started after the satellite enters an orbit and is always in a working state, the detection head needs to carry out continuous conical scanning, and the large-angle momentum generated by rotation needs to be compensated and controlled by a satellite attitude control subsystem so as to realize stable control of the attitude.
Due to the development progress, the load cannot participate in the ground test of the attitude control subsystem level, and the difficulty is brought to the ground simulation verification of the attitude control subsystem. The attitude control ground simulation test of the large-angular-momentum rotating part generally adopts the mode that a mathematical model of the large-angular-momentum rotating part is added into an attitude control dynamic model, and the angular momentum generated by the rotating part is introduced into the model for calculation. The limitation of this method is that the model of the rotating part is embedded in the attitude control dynamics model, so that there is no hardware interface with the satellite onboard computer, and although the angular momentum compensation can be realized, because the load model and the satellite onboard computer have no real communication, the real detection head rotation speed cannot be fed back to the inside of the satellite onboard computer, and simultaneously, fault simulation of various abnormal rotation speeds cannot be performed, so that the comprehensiveness and correctness of the attitude control software verification are lack of support.
With the continuous development of the satellite field, the development period is continuously shortened, and the requirements on the functionality and the effectiveness of the test method of the control system are continuously improved. The ground simulation test system method for the large-angle momentum rotating component is simple to operate, powerful in function, complete in interface and capable of configuring the satellite intensity.
Disclosure of Invention
The invention aims to provide a ground simulation test system and a ground simulation test method for a large-angle momentum rotating component, which solve the problems encountered in the current attitude control ground test and enable an attitude control subsystem to complete large-angle momentum compensation closed-loop simulation and verification of a load at each stage of development.
The invention provides a ground simulation test system for a large-angle momentum rotating part, which comprises a large-angle momentum rotating part simulation host machine and a large-angle momentum rotating part remote control loader, wherein the large-angle momentum rotating part simulation host machine is connected with the large-angle momentum rotating part remote control loader;
the large-angle momentum rotating part simulation host machine runs a large-angle momentum rotating part model, the rotating speed and the angular momentum of the rotating part are calculated in real time, relevant information is output to the satellite-borne computer for angular momentum compensation, and the relevant information is output to a dynamic model of the satellite attitude control ground equipment for satellite dynamic calculation;
the large-angle momentum rotating part remote control loading machine is used for compiling a rotating part model and loading the rotating part model to the large-angle momentum rotating part simulation host machine, and the large-angle momentum rotating part remote control loading machine also sends a rotating part model simulation control instruction so as to modify the state of the large-angle momentum rotating part simulation host machine in real time.
Optionally, the large-angular-momentum rotating component simulation host machine is connected with the large-angular-momentum rotating component remote control loader through an ethernet; the large-angular-momentum rotating part simulation host machine is connected to the satellite-borne computer through a 1553B bus special cable and is connected to the satellite attitude control ground equipment through an RS422 serial port cable.
Optionally, the rotation speed and the angular momentum of the large-angular-momentum rotating component are independently calculated by the large-angular-momentum rotating component simulation host machine, and relevant information is transmitted to the satellite-borne computer and the satellite attitude control ground equipment through a hardware interface which is the same as that of the real single machine.
Optionally, the large-angular-momentum rotating component remote control loader is provided with an industrial personal computer and a network card.
Optionally, the large-angular-momentum rotating component remote control loader sets parameters and states related to a working mode, a maximum rotating speed, a rotating angular acceleration, a rotating inertia, a dynamic unbalance coefficient, a static unbalance coefficient, a component mounting matrix, a communication fault and a rotating speed abnormity through a transmitted simulation control instruction.
Optionally, according to the related information of the rotating speed and the angular momentum of the rotating part transmitted by the large-angular-momentum rotating part simulation host machine, the on-board computer completes angular momentum compensation and attitude control brought by the rotating part, and the satellite attitude control ground equipment calculates the angular momentum brought by the rotating part in real time based on a dynamic model to simulate the on-orbit motion condition of the satellite.
The invention also provides a ground simulation test method for the large-angle momentum rotating part, which uses any one ground simulation test system for the large-angle momentum rotating part, and comprises the following processes:
a. preparing a test environment: the method comprises the following steps of electrifying a large-angle momentum rotating part simulation host machine, a large-angle momentum rotating part remote control loader, a satellite attitude control subsystem single machine, a satellite-borne computer and satellite attitude control ground equipment, starting to work, and setting a satellite to be in a stable flight state;
b. calculating formula derivation and model compiling of the large-angle momentum rotating part, and compiling and loading the rotating part model into the large-angle momentum rotating part simulation host machine by the large-angle momentum rotating part remote control loader;
c. the large-angle momentum rotating part remote control loader sets parameters and working modes of a large-angle momentum rotating part model and outputs a simulation control instruction to enable the rotating part model to start working;
d. the large-angle momentum rotating part simulation host machine independently carries out resolving on the rotating speed and the angular momentum of the large-angle momentum part, relevant information is output to the satellite borne computer in real time, and the satellite borne computer completes angular momentum compensation and attitude control brought by the rotating part; the large-angle momentum rotating part simulation host machine also outputs related information to the satellite attitude control ground equipment, and the satellite attitude control ground equipment calculates the angular momentum brought by the rotating part in real time based on a dynamic model to simulate the satellite in-orbit motion condition.
Compared with the prior art, the method adopted by the invention has the advantages and beneficial effects that:
① the invention simulates the real-time working condition of the load with the large-angle momentum rotating part by combining the ground simulation system of the large-angle momentum rotating part and the semi-physical simulation system of the satellite attitude control subsystem, realizes the real-time receiving of the load data by the attitude control subsystem, completes the angular momentum compensation function in a closed loop and real time, is beneficial to verifying the correctness and the control performance of the angular momentum compensation strategy of the satellite attitude control subsystem, and verifies the reliability of the angular momentum compensation fault plan under various fault modes.
② the invention adopts the rotating component model design to connect with the simulation host machine and the remote control loader, and uses the operation mode of the loading model, the design and simulation device is suitable for the simulation test of different rotating component models, and the requirement of the satellite attitude control subsystem for the ground simulation test of the load rotating component can be satisfied without changing the hardware of the original satellite attitude control ground simulation system.
③ the invention adopts the same hardware interface of the load and the spaceborne computer, the design is also suitable for the work of different types of loads with the same interface, and the influence on the attitude control subsystem and the correctness of the control strategy can be verified by modifying the model.
④ the ground simulation system of the large-angle momentum rotating part of the invention has the advantages of real-time modification of simulation parameters, capability of carrying out various fault simulations, and good expandability, provides the basic basis for model development and similar model pre-research work, and lays a good foundation for satellite engineering development.
Drawings
FIG. 1 is a schematic diagram of a ground simulation test system for a large-angular momentum rotating part according to the invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1, the ground simulation test system for a large-angular momentum rotating component of the present invention includes a large-angular momentum rotating component simulation host machine (hereinafter, referred to as simulation host machine) and a large-angular momentum rotating component remote control loader (hereinafter, referred to as remote control loader).
The simulation host machine and the remote control loader are connected through the Ethernet, the simulation host machine is connected to the satellite borne computer through a 1553B bus special cable, and is connected to the ground dynamics equipment through an RS422 serial port cable. Namely, the simulation host machine runs a large-angle momentum rotating part model and simulates a real physical interface of the large-angle momentum rotating part model, wherein the simulation host machine comprises a 1553B bus interface and an RS422 serial interface, after the simulation load rotating part works, the current rotating speed, the angular momentum and other information of the output rotating part are calculated in real time, and are output to the attitude control satellite-borne computer for angular momentum compensation through a corresponding interface and are output to the attitude control dynamics model for satellite dynamics calculation.
The simulation host machine is communicated with the satellite-borne computer by adopting a 1553B bus protocol, and communicated with the ground dynamics equipment by adopting an RS422 bus protocol. The simulation host machine runs the large-angle momentum rotating part model, resolves information such as rotating speed and angular momentum of the rotating part in real time, outputs related information to the satellite-borne computer, the satellite-borne computer completes angular momentum compensation and attitude control brought by the rotating part, meanwhile outputs the information to attitude control dynamics equipment, calculates the angular momentum brought by the rotating part in real time based on the dynamics model, and simulates the in-orbit motion condition of the satellite.
The remote control loader adopts a high-performance industrial personal computer and a high-speed network card. On one hand, the compiling and loading functions of the rotating component model are completed, and the rotating component model is loaded to the simulation host machine through an Ethernet protocol; on the other hand, a simulation control instruction of the rotating part model is sent out to modify the state of the large-angular-momentum rotating part of the simulation host machine in real time, for example, parameters and states of a working mode, a maximum rotating speed, a rotating angular acceleration, a rotating inertia, a dynamic unbalance coefficient, a static unbalance coefficient, a part installation matrix, a communication fault, abnormal rotating speed and the like can be set.
The operation process of the ground simulation test system of the large-angle momentum rotating part is as follows:
a. preparing a test environment: and electrifying the simulation host machine, the remote control loader, the satellite attitude control subsystem single machine, the satellite-borne computer and the satellite attitude control ground equipment to start working, and setting the satellite to be in a stable flight state.
b. Calculation formula derivation and model compiling of the large-angle momentum rotating component, and the remote control loader compiles and loads the rotating component model into the simulation host machine.
c. And the remote control loader sets parameters and working modes of the large-angle momentum rotating part model and sends an output control instruction to enable the rotating part model to start working.
d. The simulation host machine independently resolves information such as the rotating speed and the angular momentum of the large-angle momentum part, outputs related information to the satellite-borne computer in real time, the satellite-borne computer completes angular momentum compensation and attitude control brought by the rotating part, outputs information to attitude control dynamics equipment, and dynamically calculates the angular momentum brought by the rotating part in real time to simulate the on-orbit motion condition of a satellite.
Therefore, the verification of the correctness, reliability and dynamic performance of the angular momentum compensation algorithm and the angular momentum compensation failure plan algorithm can be completed by utilizing the method, so that a user can more accurately provide quantitative data and qualitative argumentation for the angular momentum compensation algorithm of the rotating component, the method is a powerful tool for researching the angular momentum compensation algorithm of the rotating component, and a large amount of time and expenditure can be saved for the engineering research of the angular momentum compensation algorithm of the rotating component of various attitude control.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (5)
1. A ground simulation test system for a large-angle momentum rotating component is characterized by comprising a large-angle momentum rotating component simulation host machine and a large-angle momentum rotating component remote control loading machine;
the large-angle momentum rotating part simulation host machine runs a large-angle momentum rotating part model, the rotating speed and the angular momentum of the rotating part are calculated in real time, relevant information is output to the satellite-borne computer for angular momentum compensation, and the relevant information is output to a dynamic model of the satellite attitude control ground equipment for satellite dynamic calculation;
the large-angle momentum rotating part remote control loading machine is used for compiling a rotating part model and loading the rotating part model to the large-angle momentum rotating part simulation host machine, and the large-angle momentum rotating part remote control loading machine also sends a rotating part model simulation control instruction so as to modify the state of the large-angle momentum rotating part simulation host machine in real time;
the rotating speed and the angular momentum of the large-angular-momentum rotating component are independently calculated by the large-angular-momentum rotating component simulation host machine, and relevant information is transmitted to the satellite-borne computer and the satellite attitude control ground equipment through a hardware interface which is the same as a real single machine;
the large-angle momentum rotating component simulation host machine is connected with the large-angle momentum rotating component remote control loader through the Ethernet; the large-angular-momentum rotating part simulation host machine is connected to the satellite-borne computer through a 1553B bus special cable and is connected to the satellite attitude control ground equipment through an RS422 serial port cable.
2. The ground simulation test system for a high angular momentum rotating part of claim 1,
the large-angle momentum rotating part remote control loader is provided with an industrial personal computer and a network card.
3. The ground simulation test system for a high angular momentum rotating part of claim 1,
the large-angle momentum rotating part remote control loader sets parameters and states related to a working mode, a maximum rotating speed, a rotating angular acceleration, a rotating inertia, a dynamic unbalance coefficient, a static unbalance coefficient, a part installation matrix, a communication fault and a rotating speed abnormity through a transmitted simulation control instruction.
4. The ground simulation test system for a high angular momentum rotating part of claim 1,
according to the relevant information of the rotating component rotating speed and the angular momentum transmitted by the large-angular-momentum rotating component simulation host machine, the satellite-borne computer completes angular momentum compensation and attitude control brought by the rotating component, and the satellite attitude control ground equipment calculates the angular momentum brought by the rotating component in real time based on a dynamic model to simulate the satellite in-orbit motion condition.
5. A ground simulation test method for a large-angular-momentum rotating component, which uses the ground simulation test system for the large-angular-momentum rotating component as claimed in any one of claims 1 to 4, and is characterized by comprising the following processes:
a. preparing a test environment: the method comprises the following steps of electrifying a large-angle momentum rotating part simulation host machine, a large-angle momentum rotating part remote control loader, a satellite attitude control subsystem single machine, a satellite-borne computer and satellite attitude control ground equipment, starting to work, and setting a satellite to be in a stable flight state;
b. calculating formula derivation and model compiling of the large-angle momentum rotating part, and compiling and loading the rotating part model into the large-angle momentum rotating part simulation host machine by the large-angle momentum rotating part remote control loader;
c. the large-angle momentum rotating part remote control loader sets parameters and working modes of a large-angle momentum rotating part model and outputs a simulation control instruction to enable the rotating part model to start working;
d. the large-angle momentum rotating part simulation host machine independently carries out resolving on the rotating speed and the angular momentum of the large-angle momentum part, relevant information is output to the satellite borne computer in real time, and the satellite borne computer completes angular momentum compensation and attitude control brought by the rotating part; the large-angle momentum rotating part simulation host machine also outputs related information to the satellite attitude control ground equipment, and the satellite attitude control ground equipment calculates the angular momentum brought by the rotating part in real time based on a dynamic model to simulate the satellite in-orbit motion condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811475432.2A CN109471424B (en) | 2018-12-04 | 2018-12-04 | Ground simulation test system and method for large-angle momentum rotating part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811475432.2A CN109471424B (en) | 2018-12-04 | 2018-12-04 | Ground simulation test system and method for large-angle momentum rotating part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109471424A CN109471424A (en) | 2019-03-15 |
| CN109471424B true CN109471424B (en) | 2020-04-21 |
Family
ID=65675547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811475432.2A Active CN109471424B (en) | 2018-12-04 | 2018-12-04 | Ground simulation test system and method for large-angle momentum rotating part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109471424B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110850842B (en) * | 2019-11-05 | 2020-10-27 | 上海航天控制技术研究所 | Satellite full-function single-machine simulation system and method based on hardware-in-the-loop |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7435178B1 (en) * | 2006-04-12 | 2008-10-14 | Activision Publishing, Inc. | Tremolo bar input for a video game controller |
| US8131409B2 (en) * | 2009-07-31 | 2012-03-06 | The Boeing Company | Gyroless transfer orbit sun acquisition using only wing current measurement feedback |
| CN101979277B (en) * | 2010-09-01 | 2012-11-07 | 南京航空航天大学 | Full-object verification platform and working method of satellite magnetic detection and control system |
| JP5289608B2 (en) * | 2011-12-13 | 2013-09-11 | ファナック株式会社 | Robot reducer life estimation simulation device |
| CN102629283B (en) * | 2011-12-15 | 2013-11-27 | 上海卫星工程研究所 | Simulation analysis method for effects of rotating part on flexible dynamics |
| FR2990193B1 (en) * | 2012-05-03 | 2015-01-09 | Thales Sa | PROPULSION SYSTEM FOR ORBIT CONTROL AND SATELLITE ATTITUDE CONTROL |
| CN104297765B (en) * | 2014-09-25 | 2017-04-26 | 上海欧科微航天科技有限公司 | Ground terminal simulator used for low-orbit satellite synchronous communication system |
| DE102015207270A1 (en) * | 2015-04-22 | 2016-10-27 | Robert Bosch Gmbh | Method and apparatus for simulation coupling of an event-driven controller subsystem and a plant subsystem |
| CN104898642B (en) * | 2015-04-28 | 2018-02-02 | 北京理工大学 | A kind of integration testing analogue system for Spacecraft Attitude Control algorithm |
| CN105974907A (en) * | 2016-05-12 | 2016-09-28 | 上海微小卫星工程中心 | Satellite attitude control ground simulation testing system |
| CN106227935B (en) * | 2016-07-20 | 2019-08-13 | 浙江大学 | A kind of system and implementation method of satellite gravity anomaly integrative simulation |
| CN106184819B (en) * | 2016-09-09 | 2019-02-12 | 上海航天控制技术研究所 | A kind of adaptive method for planning track of attitude maneuver |
| CN106527471B (en) * | 2017-01-25 | 2019-10-01 | 上海航天控制技术研究所 | Inhibit the method for planning track and system of flexible vibration during attitude maneuver |
| CN106896738A (en) * | 2017-03-23 | 2017-06-27 | 上海工程技术大学 | A kind of various dimensions quadrotor gesture stability Simulation Experimental Platform |
| CN106950858B (en) * | 2017-04-28 | 2019-09-06 | 上海航天控制技术研究所 | A kind of Satellite Semi-physical l-G simulation test culminant star time synchronization test method |
| CN107515536B (en) * | 2017-07-10 | 2019-09-06 | 上海航天控制技术研究所 | A kind of rail control closed loop semi-physical simulation test method suitable for fast-response satellite |
| CN107856883B (en) * | 2017-09-18 | 2019-11-29 | 上海航天控制技术研究所 | A kind of angular motion amount compensation process of satellite rotatable parts |
| CN108762283B (en) * | 2018-05-08 | 2021-04-13 | 哈尔滨工业大学 | Attitude control method, device and system of satellite platform with rotating load |
-
2018
- 2018-12-04 CN CN201811475432.2A patent/CN109471424B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109471424A (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107544467B (en) | Double-star formation control closed-loop test system and method under whole-star condition | |
| CN107942720B (en) | Portable ground online flight simulation system | |
| CN102411313B (en) | Satellite flight control closed loop simulation system based on component simulator | |
| US20100049486A1 (en) | Systems and Methods for Simulating Plant Operations | |
| CN104777757A (en) | Closed-loop simulation testing system and method for ground attitude control of microsatellites | |
| CN203705943U (en) | Ground joint-test system of avionics system | |
| CN105259794A (en) | Plug-and-play technology-based satellite attitude control ground simulation system | |
| CN104777758A (en) | General purpose simulator for microsatellite equipment | |
| CN111308911B (en) | Full-function modularized simulation processing system and method based on satellite attitude and orbit control | |
| CN114167751B (en) | Constellation semi-physical simulation system and simulation method | |
| CN106444726A (en) | Motor controller test system and method for mounting and adjusting same | |
| CN109471424B (en) | Ground simulation test system and method for large-angle momentum rotating part | |
| KR101695893B1 (en) | Method and for testing power management system of offshore structure | |
| CN106950858A (en) | A kind of Satellite Semi-physical l-G simulation test culminant star time synchronized method of testing | |
| CN111308910A (en) | Simulation teaching platform for electric power system | |
| Fritz et al. | Hardware-in-the-loop environment for verification of a small satellite's on-board software | |
| CN113835361A (en) | Semi-physical simulation system of unmanned aerial vehicle | |
| CN111563324A (en) | Flight control system simulation method, flight control system simulation platform, flight control system simulation server and storage medium | |
| CN111103810B (en) | Spacecraft GNC system simulation test method based on prototype digital twins framework | |
| CN112099518A (en) | Satellite attitude control simulation test method and system | |
| CN110794813B (en) | In-loop real-time linkage testing method and system for electromechanical parts | |
| CN102411312B (en) | Sensor simulator and satellite closed loop simulation system | |
| CN102436186B (en) | Performer simulator and satellite closed loop simulation system with performer simulator | |
| CN114326437B (en) | Satellite flight control simulation method and device, electronic equipment and storage medium | |
| CN111443618A (en) | Multi-mode online real-time autonomous switching simulation system and method for GNC system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |