CN109900157A - Guided munition Terminal Guidance Laws semi-physical emulation platform and method - Google Patents
Guided munition Terminal Guidance Laws semi-physical emulation platform and method Download PDFInfo
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Abstract
The invention discloses a kind of guided munition Terminal Guidance Laws semi-physical emulation platforms, it includes main controller, three-axle table, turning table control cabinet and microcontroller, and the steering engine driver, pitch channel electric steering engine, jaw channel electric steering engine, pitch channel potentiometer and the jaw channel potentiometer that are fixed on three-axle table；Guided munition Terminal Guidance Laws semi-physical emulation platform of the invention and method combine the advantage of semi-true object emulation technology and the characteristic of guided munition Terminal Guidance Laws, embedded microcontroller technology and semi-true object emulation technology are combined, program is set by serial communication bus, set parameter, control platform, and real-time Transmission, it receives, storage, display parameters, facilitating user to be easily accomplished, structure is complicated, the HWIL simulation of the more novel Terminal Guidance Laws of parameter and the higher structure of selection confidence level and parameter, reduce experimental cost, shorten experimental period, help to push application of the novel Terminal Guidance Laws on guided munition.
Description
Technical field
The present invention relates to guided munition Terminal Guidance Laws semi-true object emulation technology fields, in particular to a kind of guided munition end system
Lead rule (guiding control law of the guided munition in flight latter end) semi-physical emulation platform and method.
Background technique
Terminal Guidance Laws are the core technologies for controlling guided munition and realizing Long-range precision strike, to the huge prestige for playing warhead
Power plays remarkable effect, and with application of the modern control theory in Terminal Guidance Laws, the control performance of novel Terminal Guidance Laws is increasingly
It improves, meanwhile, its structure is increasingly complex and parameter increases.
In recent years, China greatly develops the guided munition of high-precision low cost, main at present to be selected by digital simulation method
The structure and parameter of Terminal Guidance Laws are taken, but this mode is only applicable to structure is simple, parameter is less classical Terminal Guidance Laws, for
Novel Terminal Guidance Laws, it is difficult to determine the higher structure of confidence level and parameter, live shell flight at high cost, that the period is long can not be carried out
It examines, hinders application of the novel Terminal Guidance Laws on guided munition.
Summary of the invention
Present invention aim to provide a kind of guided munition Terminal Guidance Laws semi-physical emulation platform and method, the platform
The half of real-time driving to pitching, jaw channel electric steering engine and three-axle table, feedback and Terminal Guidance Laws is able to achieve with method
Matter emulation is conducive to the confidence level for improving selected structural parameters, and shortens the lead time, reduces development cost.
In order to achieve this, a kind of guided munition Terminal Guidance Laws semi-physical emulation platform, feature designed by the present invention
Be: it includes main controller, three-axle table, turning table control cabinet and microcontroller, and the steering engine being fixed on three-axle table drives
Dynamic device, pitch channel electric steering engine, jaw channel electric steering engine, pitch channel potentiometer and jaw channel potentiometer；
The main controller is used for microcontroller conveying Terminal Guidance Laws control program, Simulation Control instruction and Simulation Control ginseng
Number, the command input of the steering engine instruction output end connection steering engine driver of microcontroller, the jaw channel electricity of steering engine driver
The signal input part of dynamic steering engine control signal output connection jaw channel electric steering engine, the pitch channel of steering engine driver are electronic
The signal input part of steering engine control signal output pitch channel electric steering engine, the output shaft of jaw channel electric steering engine and yaw
The input shaft of channeling potential device is fixedly connected, and the output shaft of pitch channel electric steering engine and the input shaft of pitch channel potentiometer are solid
Fixed connection, the jaw channel electric steering engine output shaft deflection angle signal output end connection microcontroller of jaw channel potentiometer
Jaw channel feedback data input terminal, the pitch channel electric steering engine output shaft deflection angle signal output of pitch channel potentiometer
The pitch channel feedback data input terminal of end connection microcontroller；
The communication ends of turning table control and status signal communication ends the connection turning table control cabinet of microcontroller, control cabinet is for controlling
Action of Three-axis Motion Turntable processed and the attitude angle for obtaining current time three-axle table；
Microcontroller is used for according to jaw channel electric steering engine output shaft deflection angle signal and pitch channel electric steering engine
Pitch channel electric steering engine aerodynamic force, the pitch channel electric steering engine aerodynamic force at output shaft deflection angle signal calculating current time
Square, jaw channel electric steering engine aerodynamic force and jaw channel electric steering engine aerodynamic moment, microcontroller be also used to according to it is current when
The pitch channel electric steering engine aerodynamic force at quarter, pitch channel electric steering engine aerodynamic moment, jaw channel electric steering engine aerodynamic force, partially
Boat channel electric steering engine aerodynamic moment and the attitude angle of three-axle table obtain subsequent time pitching by Fourth order Runge-Kutta
The attitude angle of channel steering engine output shaft drift angle, jaw channel steering engine output shaft drift angle and three-axle table, i.e. guided munition end system
Lead the control information of rule.
A kind of guided munition Terminal Guidance Laws Hardware In The Loop Simulation Method, it includes the following steps:
Step 1: main controller sends Simulation Control instruction to microcontroller by Terminal Guidance Laws software, sets Simulation Control journey
Sequence and Simulation Control parameter；
Compiled emulator control program is selected on Terminal Guidance Laws software, sets program control instruction by sending
Emulator control program is set in microcontroller, emulator control program includes differential equation group and fourth order Runge-Kutta algorithm,
Differential equation group include body six-degree-of-freedom dynamic model, target three-degree-of-freedom motion model, play mesh Three Degree Of Freedom it is opposite
Motion model and all kinds of Terminal Guidance Laws；
Simulated environment parameter, body property parameters, objective attribute target attribute parameter and end are chosen or inputted on Terminal Guidance Laws software
Guidance Law parameter, by send set state modulator instruction by simulated environment parameter, body property parameters, objective attribute target attribute parameter and
Terminal Guidance Laws parameter is set in microcontroller；
Step 2: microcontroller is according to the trajectory tilt angle θ in current time body property parameters1With the pitching of three-axle table
Angle signalThe angle of attack of current time body is resolved by following formula 11；
Microcontroller is according to the trajectory deflection angle ψ in current time body property parameters1With the yaw angle signal of three-axle tableThe yaw angle β of current time body is resolved by following formula 21；
Microcontroller (3.1) is according to current time pitch channel electric steering engine output shaft deflection angle δz1, jaw channel electricity
Dynamic steering engine output shaft deflection angle δy1With the roll angle γ of three-axle table (2.1)1It is bowed by following formula 3 resolving current time
Face upward the equivalent drift angle δ of channel electric steering engine output shaftzeq1With the equivalent drift angle δ of jaw channel electric steering engine output shaftyeq1；
In conjunction with the angle of attack of current time body1, current time body yaw angle β1, the electronic rudder of current time pitch channel
The equivalent drift angle δ of machine output shaftzeq1, the current time equivalent drift angle δ of jaw channel electric steering engine output shaftyeq1With set in step 1
Simulation Control parameter resolves the active force of current time body by the body six-degree-of-freedom dynamic model set in step 1
With opplied moment parameter；
Step 3: microcontroller resolves subsequent time according to the differential equation group and Fourth order Runge-Kutta that set in step 1
The variable parameter of required solution in the control parameter and differential equation group of Terminal Guidance Laws, including subsequent time pitch channel steering engine
The equivalent drift angle δ of output shaftzeq2, the equivalent drift angle δ of subsequent time jaw channel steering engine output shaftyeq2With subsequent time three-axle table
Pitch angleYaw angleWith roll angle γ2；
Microcontroller is according to the equivalent drift angle δ of subsequent time pitch channel steering engine output shaftzeq2, subsequent time jaw channel rudder
The equivalent drift angle δ of machine output shaftyeq2With the roll angle γ of subsequent time three-axle table2Subsequent time pitching is resolved by following formula 4
Channel electric steering engine output shaft drift angle δz2, jaw channel electric steering engine output shaft drift angle δy2；
Step 4: microcontroller is according to subsequent time pitch channel electric steering engine output shaft drift angle δz2It is electronic with jaw channel
Steering engine output shaft drift angle δy2Jaw channel electric steering engine control instruction and pitch channel electric steering engine control are sent to steering engine driver
System instruction；
Steering engine driver controls the movement of jaw channel electric steering engine according to jaw channel electric steering engine control instruction, and yaw is logical
The movement of road electric steering engine drives the input shaft movement of jaw channel potentiometer, and jaw channel potentiometer is by the electronic rudder of jaw channel
Machine output shaft deflection angle feeds back to microcontroller；
Steering engine driver controls the movement of pitch channel electric steering engine according to pitch channel electric steering engine control instruction, and pitching is logical
The movement of road electric steering engine drives the input shaft movement of pitch channel potentiometer, and pitch channel potentiometer is by the electronic rudder of pitch channel
Machine output shaft deflection angle feeds back to microcontroller；
Microcontroller is according to the pitch angle of subsequent time three-axle tableYaw angleWith roll angle γ2It is sent out to control cabinet
Gesture drive is sent to instruct, three-axle table moves under the driving that gesture drive instructs, and microcontroller obtains three-axle table and currently transports
Dynamic attitude angle, and step 2 is returned to, carry out circuiting sequentially until missile-target distance parameter is less than or equal to the system of setting for step 2~4
The guided missile medicine radius of damage, jumps out circulation, i.e. this guided munition Terminal Guidance Laws HWIL simulation terminates.
Guided munition Terminal Guidance Laws semi-physical emulation platform of the invention and method combine the excellent of semi-true object emulation technology
The characteristic of gesture and guided munition Terminal Guidance Laws combines embedded microcontroller technology and semi-true object emulation technology, and by rudder
Machine and three-axle table are included in HWIL simulation circuit, solve Digital Simulation because steering engine dynamic characteristic and attitude angle transducer measure
Error etc. is difficult to Accurate Model and the problem that causes simulation Credibility lower, sets program by serial communication bus, sets ginseng
Number, control platform, and real-time Transmission, reception, storage, display parameters, facilitating user to be easily accomplished, structure is complicated, parameter is more
The HWIL simulation of novel Terminal Guidance Laws and the higher structure of selection confidence level and parameter, reduce experimental cost, shorten experiment week
Phase helps to push application of the novel Terminal Guidance Laws on guided munition.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Wherein, 1-main control unit, 1.1-main controllers, the 1.2-the one RS422 to USB conversion module, 2-attitude-simulatings
Unit, 2.1-three-axle tables, 2.2-turning table control cabinets, the 2.3-the two RS422 to USB conversion module, 3-control cabinet units,
3.1-microcontrollers, 3.2-steering engine drivers, 3.3-pitch channel electric steering engines, 3.4-jaw channel electric steering engines,
3.5-pitch channel potentiometers, 3.6-jaw channel potentiometers, the 3.7-the one TTL to 422 conversion modules, 3.8-the second
TTL is to 422 conversion modules, 3.9-memory modules.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Guided munition Terminal Guidance Laws semi-physical emulation platform as shown in Figure 1, it includes main controller 1.1, three-axle table
2.1, turning table control cabinet 2.2 and microcontroller 3.1, and the steering engine driver 3.2 that is fixed on three-axle table 2.1, pitching are logical
Road electric steering engine 3.3, jaw channel electric steering engine 3.4, pitch channel potentiometer 3.5 and jaw channel potentiometer 3.6；
The main controller 1.1 is used to convey Terminal Guidance Laws control program, Simulation Control instruction and emulation to microcontroller 3.1
Control parameter, the command input of the steering engine instruction output end connection steering engine driver 3.2 of microcontroller 3.1, steering engine driver
The signal input part of 3.2 jaw channel electric steering engine control signal output connection jaw channel electric steering engine 3.4, steering engine drive
The signal input part of the pitch channel electric steering engine control signal output pitch channel electric steering engine 3.3 of dynamic device 3.2, yaw are logical
The output shaft of road electric steering engine 3.4 is fixedly connected with the input shaft of jaw channel potentiometer 3.6, pitch channel electric steering engine 3.3
Output shaft be fixedly connected with the input shaft of pitch channel potentiometer 3.5, the electronic rudder of the jaw channel of jaw channel potentiometer 3.6
Machine output shaft deflection angle signal output end connects the jaw channel feedback data input terminal of microcontroller 3.1, pitch channel electricity
The pitch channel of the pitch channel electric steering engine output shaft deflection angle signal output end connection microcontroller 3.1 of position device 3.5 is anti-
Present data input pin；
The communication ends of turning table control and status signal communication ends the connection turning table control cabinet 2.2 of microcontroller 3.1, control cabinet
2.2 move and obtain the attitude angle of current time three-axle table 2.1 for controlling three-axle table 2.1, microcontroller 3.1 be used for
Control cabinet 2.2 conveys gesture drive instruction, and receives the feedback information of turntable posture state；
Microcontroller 3.1 is used for according to jaw channel electric steering engine output shaft deflection angle signal and the electronic rudder of pitch channel
Pitch channel electric steering engine aerodynamic force, the pitch channel electric steering engine that machine output shaft deflection angle signal calculates current time are pneumatic
Torque, jaw channel electric steering engine aerodynamic force and jaw channel electric steering engine aerodynamic moment, microcontroller 3.1 are also used to basis and work as
Pitch channel electric steering engine aerodynamic force, pitch channel electric steering engine aerodynamic moment, the jaw channel electric steering engine at preceding moment are pneumatic
The attitude angle of power, jaw channel electric steering engine aerodynamic moment and three-axle table 2.1 is by Fourth order Runge-Kutta (with reference to text
Offer Beijing Han Zipeng bullet arrow exterior ballistics [M]: publishing house, Beijing Institute of Technology, 2014.) obtain subsequent time pitch channel rudder
The attitude angle of machine output shaft drift angle, jaw channel steering engine output shaft drift angle and three-axle table 2.1, i.e. guided munition terminal guidance
The control information of rule.
In above-mentioned technical proposal, it further includes the first RS422 to USB conversion module 1.2, the first TTL to 422 conversion modules
3.7, the 2nd TTL is to 422 conversion modules 3.8, the 2nd RS422 to USB conversion module 2.3 and memory module 3.9, main controller 1.1
Terminal Guidance Laws control program output end connection microcontroller 3.1 control program input terminal, the Simulation Control of main controller 1.1 refers to
It enables and Simulation Control parameter output passes sequentially through the first RS422 to USB conversion module 1.2 and the first TTL to 422 conversion modules
The serial data input terminal of 3.7 connection microcontrollers 3.1, the turning table control and status signal communication ends of microcontroller 3.1 are successively
The communication of turning table control cabinet 2.2 is connected by the 2nd TTL to 422 conversion modules 3.8 and the 2nd RS422 to USB conversion module 2.3
End, the data storage end of the data storage end connection microcontroller 3.1 of the memory module 3.9.
The attitude angle of the three-axle table 2.1 includes pitch angle, yaw angle and roll angle.
In above-mentioned technical proposal, the turning table control cabinet 2.2 can refer to according to the turntable gesture drive that microcontroller 3.1 is sent
It enables, driving three-axle table 2.1 carries out pitching, yaw, rolling movement, and posture angular region is -80 °~+80 ° of pitch angle, yaw angle -
60 °~+60 °, roll angle continuous rotation, posture angular accuracy are 10 ' (unit is point).It is low during guided munition practical flight
The continuous rolling of speed, and the variation range of pitch angle, yaw angle is larger, therefore need three-axle table with higher precision and biggish range
Control attitude angle variation.
In above-mentioned technical proposal, the angular velocity range of three-axle table 2.1 is -10 °/s~+10 °/s of pitching, -10 ° of yaw/s
~+10 °/s, rolling -10n/s~10n/s, angular acceleration range are -100 °/s2~+100 °/s2.Guided munition practical flight mistake
Journey is low speed roll stabilization, its attitude angle variation is not violent, i.e. attitude angular velocity and attitude angle acceleration range is limited,
Therefore the attitude angular velocity of three-axle table and angular acceleration meet the above range requirement.
In above-mentioned technical proposal, the main controller 1.1 and the first RS422 to USB conversion module 1.2 constitute main control unit 1,
The three-axle table 2.1, control cabinet 2.2 and the 2nd RS422 are described micro- to the composition attitude-simulating unit 2 of USB conversion module 2.3
Controller 3.1, steering engine driver 3.2, pitch channel electric steering engine 3.3, jaw channel electric steering engine 3.4, pitch channel current potential
Device 3.5, jaw channel potentiometer 3.6, the first TTL to 422 conversion modules 3.7, the 2nd TTL to 422 conversion modules 3.8, second
RS422 constitutes control cabinet unit 3 to USB conversion module 2.3 and memory module 3.9, and control cabinet unit 3 is used to control the fortune of guided missile
Dynamic rail mark.
In above-mentioned technical proposal, the control cabinet unit 3 has axial symmetry profile, and control cabinet unit 3 is mechanically
It is mounted on three-axle table 2.1, the longitudinal axis of control cabinet unit 3 is overlapped with 2.1 rolling azimuth axis of three-axle table.Control shipping bill
Member, is the simplified model of guided munition, it is fixed on three-axle table, and the attitude angle of three-axle table is the appearance of control cabinet unit
State angle be easy to cause installation error if control cabinet unit axis is not overlapped with three-axle table rolling azimuth axis, is continuously rolling
Transhipment causes attitude angle error when dynamic, therefore needs alignment axis.
In above-mentioned technical proposal, three-axle table 2.1 takes three-level protective at runtime, to extreme position: (1) software limits
Position, turning table control software to current location is calculated, once calculating transfinites on some direction, are just forbidden transporting to direction of transfiniting automatically
It is dynamic, only opposite direction is allowed to move；(2) hardware limit, each extreme position are installed limit switches, are opened when mechanism kinematic touches limit
Guan Shi, the movement of force termination three-axle table 2-1；Mechanical position limitation: (3) each extreme position is equipped with electromechanical stop, it is ensured that mechanism
Extreme position is moved to not continue to move.
A kind of guided munition Terminal Guidance Laws Hardware In The Loop Simulation Method, it includes the following steps:
Step 1: main controller 1.1 passes through Terminal Guidance Laws software (Terminal Guidance Laws software uses on main controller 1.1) to micro-control
Device 3.1 processed sends Simulation Control instruction, sets emulator control program and Simulation Control parameter, and Simulation Control instruction is main controller control
A series of control instructions set in Terminal Guidance Laws software of system operation microcontroller, it is main include connection serial ports,
Program is set, parameter is set, checks and set parameter, initial turntable, starting emulation, close serial ports, platform and return to zero；
Compiled emulator control program is selected on Terminal Guidance Laws software, sets program control instruction by sending
Emulator control program is set in microcontroller 3.1, emulator control program includes that differential equation group and fourth order Runge-Kutta are calculated
Method, differential equation group include body six-degree-of-freedom dynamic model (Beijing bibliography Qian Xingfang missile flight aerodynamics [M]:
Publishing house, Beijing Institute of Technology, 2008.), target three-degree-of-freedom motion model, play mesh Three Degree Of Freedom relative motion model and each
Class Terminal Guidance Laws；
Simulated environment parameter, body property parameters, objective attribute target attribute parameter and end are chosen or inputted on Terminal Guidance Laws software
Guidance Law parameter, by send set state modulator instruction by simulated environment parameter, body property parameters, objective attribute target attribute parameter and
Terminal Guidance Laws parameter is set in microcontroller 3.1；
Step 2: microcontroller 3.1 is according to the trajectory tilt angle θ in current time body property parameters1With three-axle table 2.1
Pitching angle signalThe angle of attack of current time body is resolved by following formula 11,
Microcontroller 3.1 is according to the trajectory deflection angle ψ in current time body property parameters1With the yaw of three-axle table 2.1
Angle signalThe yaw angle β of current time body is resolved by following formula 21；
Microcontroller 3.1 is according to current time pitch channel electric steering engine output shaft deflection angle δz1, jaw channel it is electronic
Steering engine output shaft deflection angle δy1With the roll angle γ of three-axle table 2.11It is logical that current time pitching is resolved by following formula 3
The equivalent drift angle δ of road electric steering engine output shaftzeq1With the equivalent drift angle δ of jaw channel electric steering engine output shaftyeq1；
In conjunction with the angle of attack of current time body1, current time body yaw angle β1, the electronic rudder of current time pitch channel
The equivalent drift angle δ of machine output shaftzeq1, the current time equivalent drift angle δ of jaw channel electric steering engine output shaftyeq1With set in step 1
Simulation Control parameter resolves the active force of current time body by the body six-degree-of-freedom dynamic model set in step 1
With opplied moment parameter；
Step 3: microcontroller 3.1 resolves according to the differential equation group set in step 1 with Fourth order Runge-Kutta next
The variable parameter of required solution in the control parameter and differential equation group of moment Terminal Guidance Laws, including subsequent time pitch channel
The equivalent drift angle δ of steering engine output shaftzeq2, the equivalent drift angle δ of subsequent time jaw channel steering engine output shaftyeq2Turn with three axis of subsequent time
The pitch angle of platform (2.1)Yaw angleWith roll angle γ2；
Microcontroller 3.1 is according to the equivalent drift angle δ of subsequent time pitch channel steering engine output shaftzeq2, subsequent time yaw it is logical
The equivalent drift angle δ of road steering engine output shaftyeq2With the roll angle γ of subsequent time three-axle table (2.1)2Under being resolved by following formula 4
One moment pitch channel electric steering engine output shaft drift angle δz2, jaw channel electric steering engine output shaft drift angle δy2；
Step 4: microcontroller 3.1 is according to subsequent time pitch channel electric steering engine output shaft drift angle δz2With jaw channel electricity
Dynamic steering engine output shaft drift angle δy2Jaw channel electric steering engine control instruction and the electronic rudder of pitch channel are sent to steering engine driver 3.2
Machine control instruction；
Steering engine driver 3.2 controls jaw channel electric steering engine 3.4 according to jaw channel electric steering engine control instruction and moves,
The movement of jaw channel electric steering engine 3.4 drives the input shaft movement of jaw channel potentiometer 3.6, jaw channel potentiometer 3.6
Jaw channel electric steering engine output shaft deflection angle is fed back into microcontroller 3.1；
Steering engine driver 3.2 controls pitch channel electric steering engine 3.3 according to pitch channel electric steering engine control instruction and moves,
The movement of pitch channel electric steering engine 3.3 drives the input shaft movement of pitch channel potentiometer 3.5, pitch channel potentiometer 3.5
Pitch channel electric steering engine output shaft deflection angle is fed back into microcontroller 3.1；
Microcontroller 3.1 is according to the pitch angle of subsequent time three-axle table 2.1Yaw angleWith roll angle γ2To control
Cabinet 2.2 processed sends gesture drive instruction, and three-axle table 2.1 moves under the driving that gesture drive instructs, and microcontroller 3.1 obtains
The attitude angle of 2.1 current kinetic of three-axle table, and step 2 is returned to, carry out circuiting sequentially until missile-target distance is joined for step 2~4
Number is less than or equal to the distance constant of setting, jumps out circulation, and microcontroller 3.1 is counted by memory module 3.9 in each circulation
According to storage, and it is sent to main controller 1.1, i.e. this guided munition Terminal Guidance Laws HWIL simulation terminates, and empties microcontroller ginseng
Number, be zeroed steering engine and three-axle table 2.1.
In the step 4 of above-mentioned technical proposal, the distance constant set is radius of damage rs, the condition for jumping out circulation is
According to current time bullet mesh relative distance parameter r and radius of damage rsSize relation judge whether body hits target, if r≤
rsIndicate that body is hit target, this HWIL simulation terminates.Main controller 1.1 sends platform to microcontroller 3.1 and returns to zero control
Instruction, triggering microcontroller respectively to control cabinet, steering engine driver send turntable returns to zero, steering engine returns to zero driving instruction, driving three
Axis turntable is returned to zero with pitching, jaw channel electric steering engine.
Before step 1, steering engine driver 3.2 drives pitch channel electric steering engine 3.3 and jaw channel electronic to the present invention
Steering engine 3.4 returns to zero, and turning table control software-driven three-axle table 2.1 is operated on turning table control cabinet 2.2 in pitching, yaw, rolling dress
Direction returns to zero, and checks the operating alone situation of each equipment.
The subsequent time parameter resolved in each circulation is passed through DMA (Direct by microcontroller 3.1 in the present invention
Memory Access, direct memory access (DMA)) it is transferred to memory module 3.9, memory module 3.9 is stored, microcontroller
3.1 it is every carry out five circulations the subsequent time parameter that resolves in the 5th circulation be transferred to main controller 1.1, main controller 1.1 into
Reception, storage and the display of row subsequent time parameter.On Terminal Guidance Laws software specially by offline playback or combination MATLAB etc.
The data of this HWIL simulation are analyzed in the processing of industry software part, and data include the storage record of main controller and memory module.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of guided munition Terminal Guidance Laws semi-physical emulation platform, it is characterised in that: it includes main controller (1.1), three axis turn
Platform (2.1), turning table control cabinet (2.2) and microcontroller (3.1), and the steering engine driver being fixed on three-axle table (2.1)
(3.2), pitch channel electric steering engine (3.3), jaw channel electric steering engine (3.4), pitch channel potentiometer (3.5) and yaw are logical
Road potentiometer (3.6)；
The main controller (1.1) is used for microcontroller (3.1) conveying Terminal Guidance Laws control program, Simulation Control instruction and emulation
Control parameter, the command input of steering engine instruction output end connection steering engine driver (3.2) of microcontroller (3.1), steering engine drive
The signal input of jaw channel electric steering engine control signal output connection jaw channel electric steering engine (3.4) of dynamic device (3.2)
End, the signal of the pitch channel electric steering engine control signal output pitch channel electric steering engine (3.3) of steering engine driver (3.2)
The output shaft of input terminal, jaw channel electric steering engine (3.4) is fixedly connected with the input shaft of jaw channel potentiometer (3.6), is bowed
The output shaft for facing upward channel electric steering engine (3.3) is fixedly connected with the input shaft of pitch channel potentiometer (3.5), jaw channel current potential
The jaw channel of jaw channel electric steering engine output shaft deflection angle signal output end connection microcontroller (3.1) of device (3.6)
Feedback data input terminal, the pitch channel electric steering engine output shaft deflection angle signal output end of pitch channel potentiometer (3.5)
Connect the pitch channel feedback data input terminal of microcontroller (3.1)；
The communication ends of turning table control and status signal the communication ends connection turning table control cabinet (2.2) of microcontroller (3.1), control cabinet
(2.2) attitude angle of current time three-axle table (2.1) is moved and obtained for controlling three-axle table (2.1)；
Microcontroller (3.1) is used for according to jaw channel electric steering engine output shaft deflection angle signal and pitch channel electric steering engine
Pitch channel electric steering engine aerodynamic force, the pitch channel electric steering engine aerodynamic force at output shaft deflection angle signal calculating current time
Square, jaw channel electric steering engine aerodynamic force and jaw channel electric steering engine aerodynamic moment, microcontroller (3.1) are also used to basis and work as
Pitch channel electric steering engine aerodynamic force, pitch channel electric steering engine aerodynamic moment, the jaw channel electric steering engine at preceding moment are pneumatic
The attitude angle of power, jaw channel electric steering engine aerodynamic moment and three-axle table (2.1) is obtained down by Fourth order Runge-Kutta
The posture of one moment pitch channel steering engine output shaft drift angle, jaw channel steering engine output shaft drift angle and three-axle table (2.1)
Angle, i.e. the control information of guided munition Terminal Guidance Laws.
2. the guided munition Terminal Guidance Laws semi-physical emulation platform conveyed according to claim 1, it is characterised in that: it further includes
One RS422 is to USB conversion module (1.2), the first TTL to 422 conversion modules (3.7), the 2nd TTL to 422 conversion modules
(3.8), for the 2nd RS422 to USB conversion module (2.3) and memory module (3.9), the Terminal Guidance Laws of main controller (1.1) control journey
Sequence output end connects the control program input terminal of microcontroller (3.1), the Simulation Control instruction of main controller (1.1) and Simulation Control
Parameter output passes sequentially through the first RS422 to USB conversion module (1.2) and the first TTL to 422 conversion modules (3.7) connection
The serial data input terminal of microcontroller (3.1), the turning table control and status signal communication ends of microcontroller (3.1) pass sequentially through
2nd TTL to 422 conversion modules (3.8) and the 2nd RS422 is logical to USB conversion module (2.3) connection turning table control cabinet (2.2)
Believe end, the data storage end of the data storage end connection microcontroller (3.1) of the memory module (3.9).
3. the guided munition Terminal Guidance Laws semi-physical emulation platform conveyed according to claim 1, it is characterised in that: three axis turns
The attitude angle of platform (2.1) includes pitch angle, yaw angle and roll angle.
4. the guided munition Terminal Guidance Laws semi-physical emulation platform conveyed according to claim 3, it is characterised in that: the turntable control
The turntable gesture drive that cabinet (2.2) processed can send according to microcontroller (3.1) instructs, driving three-axle table (2.1) progress pitching,
Yaw, rolling movement, posture angular region are -80 °~+80 ° of pitch angle, -60 °~+60 ° of yaw angle, roll angle continuous rotation.
5. guided munition Terminal Guidance Laws semi-physical emulation platform according to claim 4, it is characterised in that: three-axle table
(2.1) angular velocity range is -10 °/s~+10 °/s of pitching, -10 °/s~+10 °/s of yaw, rolling -10n/s~10n/s, angle
Acceleration range is -100 °/s2~+100 °/s2。
6. the guided munition Terminal Guidance Laws semi-physical emulation platform conveyed according to claim 4, it is characterised in that: posture angular accuracy
It is 10 °.
7. the guided munition Terminal Guidance Laws semi-physical emulation platform conveyed according to claim 1, it is characterised in that: the main controller
(1.1) and the first RS422 to USB conversion module (1.2) constitute main control unit (1), the three-axle table (2.1), control cabinet
(2.2) and the 2nd RS422 to USB conversion module (2.3) constitute attitude-simulating unit (2), the microcontroller (3.1), steering engine
Driver (3.2), pitch channel electric steering engine (3.3), jaw channel electric steering engine (3.4), pitch channel potentiometer (3.5),
Jaw channel potentiometer (3.6), the first TTL to 422 conversion modules (3.7), the 2nd TTL to 422 conversion modules (3.8), second
RS422 constitutes control cabinet unit (3) to USB conversion module (2.3) and memory module (3.9), and control cabinet unit (3) is for controlling
The motion profile of guided missile.
8. guided munition Terminal Guidance Laws semi-physical emulation platform according to claim 7, it is characterised in that: the control cabinet
Unit (3) has axial symmetry profile, and control cabinet unit (3) is mechanically mounted on three-axle table (2.1), controls shipping bill
The longitudinal axis of first (3) is overlapped with three-axle table (2.1) rolling azimuth axis.
9. a kind of guided munition Terminal Guidance Laws Hardware In The Loop Simulation Method, which is characterized in that it includes the following steps:
Step 1: main controller (1.1) sends Simulation Control instruction to microcontroller (3.1) by Terminal Guidance Laws software, sets emulation
Control program and Simulation Control parameter；
Compiled emulator control program is selected on Terminal Guidance Laws software, setting program control instruction by transmission will imitate
True control program is set in microcontroller (3.1), and emulator control program includes differential equation group and fourth order Runge-Kutta algorithm,
Differential equation group include body six-degree-of-freedom dynamic model, target three-degree-of-freedom motion model, play mesh Three Degree Of Freedom it is opposite
Motion model and all kinds of Terminal Guidance Laws；
Simulated environment parameter, body property parameters, objective attribute target attribute parameter and terminal guidance are chosen or inputted on Terminal Guidance Laws software
Parameter is restrained, sets state modulator instruction for simulated environment parameter, body property parameters, objective attribute target attribute parameter and end system by sending
Rule parameter is led to set in microcontroller (3.1)；
Step 2: microcontroller (3.1) is according to the trajectory tilt angle θ in current time body property parameters1With three-axle table (2.1)
Pitching angle signalThe angle of attack of current time body is resolved by following formula 11,
Microcontroller (3.1) is according to the trajectory deflection angle ψ in current time body property parameters1With the yaw angle of three-axle table (2.1)
SignalThe yaw angle β of current time body is resolved by following formula 21；
Microcontroller (3.1) is according to current time pitch channel electric steering engine output shaft deflection angle δz1, the electronic rudder of jaw channel
Machine output shaft deflection angle δy1With the roll angle γ of three-axle table (2.1)1It is logical that current time pitching is resolved by following formula 3
The equivalent drift angle δ of road electric steering engine output shaftzeq1With the equivalent drift angle δ of jaw channel electric steering engine output shaftyeq1；
In conjunction with the angle of attack of current time body1, current time body yaw angle β1, current time pitch channel electric steering engine it is defeated
The equivalent drift angle δ of shaftzeq1, the current time equivalent drift angle δ of jaw channel electric steering engine output shaftyeq1With the emulation set in step 1
Control parameter resolves the active force and work of current time body by the body six-degree-of-freedom dynamic model set in step 1
With torque parameter；
Step 3: microcontroller (3.1) resolves lower a period of time according to the differential equation group and Fourth order Runge-Kutta that set in step 1
Carve the variable parameter of required solution in the control parameter and differential equation group of Terminal Guidance Laws, including subsequent time pitch channel rudder
The equivalent drift angle δ of machine output shaftzeq2, the equivalent drift angle δ of subsequent time jaw channel steering engine output shaftyeq2With subsequent time three-axle table
(2.1) pitch angleYaw angleWith roll angle γ2；
Microcontroller (3.1) is according to the equivalent drift angle δ of subsequent time pitch channel steering engine output shaftzeq2, subsequent time jaw channel rudder
The equivalent drift angle δ of machine output shaftyeq2With the roll angle γ of subsequent time three-axle table (2.1)2Lower a period of time is resolved by following formula 4
Carve pitch channel electric steering engine output shaft drift angle δz2, jaw channel electric steering engine output shaft drift angle δy2；
Step 4: microcontroller (3.1) is according to subsequent time pitch channel electric steering engine output shaft drift angle δz2It is electronic with jaw channel
Steering engine output shaft drift angle δy2Jaw channel electric steering engine control instruction and the electronic rudder of pitch channel are sent to steering engine driver (3.2)
Machine control instruction；
Steering engine driver (3.2) controls jaw channel electric steering engine (3.4) movement according to jaw channel electric steering engine control instruction,
The movement of jaw channel electric steering engine (3.4) drives the input shaft movement of jaw channel potentiometer (3.6), jaw channel potentiometer
(3.6) jaw channel electric steering engine output shaft deflection angle is fed back into microcontroller (3.1)；
Steering engine driver (3.2) controls pitch channel electric steering engine (3.3) movement according to pitch channel electric steering engine control instruction,
The movement of pitch channel electric steering engine (3.3) drives the input shaft movement of pitch channel potentiometer (3.5), pitch channel potentiometer
(3.5) pitch channel electric steering engine output shaft deflection angle is fed back into microcontroller (3.1)；
Microcontroller (3.1) is according to the pitch angles of subsequent time three-axle table (2.1)Yaw angleWith roll angle γ2To control
Cabinet (2.2) processed sends gesture drive instruction, and three-axle table (2.1) moves under the driving that gesture drive instructs, microcontroller
(3.1) attitude angle for obtaining three-axle table (2.1) current kinetic, and returns to step 2, carry out step 2~4 circuit sequentially until
Missile-target distance parameter is less than or equal to the distance constant of setting, jumps out circulation, i.e. this guided munition Terminal Guidance Laws HWIL simulation
Terminate.
10. guided munition Terminal Guidance Laws Hardware In The Loop Simulation Method according to claim 9, it is characterised in that: the step 1
Before, steering engine driver (3.2) driving pitch channel electric steering engine (3.3) and jaw channel electric steering engine (3.4) return to zero, and are turning
Turning table control software-driven three-axle table (2.1) are operated on platform control cabinet (2.2) to return to zero in pitching, yaw, rolling dress direction.
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