CN110632934A - Rapid simulation verification method for flight control computer - Google Patents
Rapid simulation verification method for flight control computer Download PDFInfo
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- CN110632934A CN110632934A CN201810661247.6A CN201810661247A CN110632934A CN 110632934 A CN110632934 A CN 110632934A CN 201810661247 A CN201810661247 A CN 201810661247A CN 110632934 A CN110632934 A CN 110632934A
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- 238000004088 simulation Methods 0.000 title claims abstract description 133
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 122
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012795 verification Methods 0.000 title claims abstract description 24
- 238000004132 cross linking Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims description 20
- 238000012360 testing method Methods 0.000 abstract description 5
- 238000005096 rolling process Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a quick simulation verification method for a flight control computer, which comprises the following steps: performing signal cross-linking on a simulation tester and a flight control computer to realize simulation of the flight control computer; step two, judging a slow variable simulation step length adjustment condition and a slow variable simulation step length adjustment exit condition of the flight control computer in real time in the process of simulating the flight control computer so as to adjust the slow variable simulation step length of the flight control computer; step three, simulating the flight control computer according to the adjusted slow variable simulation step length; and step four, repeating the step one to the step three until the simulation is finished. By applying the technical scheme of the invention, the technical problem of long time of real-time simulation test of the flight control computer in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of simulation analysis, in particular to a quick simulation verification method for a flight control computer.
Background
The simulation of the traditional flight control computer simulates the external environment of the flight control computer and the signal cross-linking relation with the flight control computer through a simulation tester, and performs simulation test on software and hardware of the flight control computer by simulating the working process and the time sequence of the external environment of the flight control computer in real time.
In the simulation process, the simulation tester simulates real equipment to communicate with the flight control computer in real time. The flight control computer acquires attitude and position information required by flight control through communication, and outputs a control signal through control resolving. The simulation tester collects the control signal output by the flight control computer to carry out flight dynamics simulation so as to obtain the attitude and the position of the airplane.
Along with the development of long-endurance and ultra-long-endurance unmanned aerial vehicles, the flight time of the unmanned aerial vehicle is longer and longer, the time of real-time simulation test of a flight control computer is also longer and longer, and the functions and the performances of software and hardware of the flight control computer cannot be verified through mathematical simulation. In order to shorten the real-time simulation test time of the flight control computer, a fast simulation verification method of the flight control computer needs to be researched.
Disclosure of Invention
The invention provides a quick simulation verification method for a flight control computer, which can solve the technical problem of long time of real-time simulation test of the flight control computer in the prior art.
The invention provides a flight control computer rapid simulation verification method, which comprises the following steps: performing signal cross-linking on a simulation tester and a flight control computer to realize simulation of the flight control computer; step two, judging a slow variable simulation step length adjustment condition and a slow variable simulation step length adjustment exit condition of the flight control computer in real time in the process of simulating the flight control computer so as to adjust the slow variable simulation step length of the flight control computer; step three, simulating the flight control computer according to the adjusted slow variable simulation step length; and step four, repeating the step one to the step three until the simulation is finished.
Further, in the second step, when the roll angular rate and the speed change rate of the flight control computer meet the slow variable simulation step length adjustment condition, the slow variable simulation step length of the flight control computer is adjusted to be N of the reference simulation step length0Multiple, N0Greater than 1.
Further, the adjusting conditions of the slow variable simulation step length comprise that the roll angle speed of the flight control computer is continuously less than 0.2deg/s for 1s and the speed change rate of the flight control computer is continuously less than 0.1m/s for 10s2。
Further, in the second step, when the change of the control voltage of the aileron of the flight control computer or the change of the engine throttle meets the condition of exiting the slow variable simulation step length adjustment, the slow variable simulation step length of the flight control computer is adjusted to be the reference simulation step length.
Further, the slow variable simulation step length adjustment exit condition comprises that the change of the control voltage of the aileron of the flight control computer is larger than 0.2V or the change of the engine throttle is larger than 0.1% of the adjustable range.
Further, the slow variables of the flight control computer include heading angle, longitude, latitude, and aircraft mass.
By applying the technical scheme of the invention, the invention provides a flight control computer rapid simulation verification method, which judges the slow variable simulation step length adjustment condition and the slow variable simulation step length adjustment exit condition of the flight control computer in real time under the condition of keeping the signal cross-linking of the simulation tester and the flight control computer unchanged so as to adjust the slow variable simulation step length of the flight control computer, and can realize the rapid simulation verification of the unmanned plane flight control computer.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a flowchart illustrating a method for fast simulation verification of an flight control computer according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating a connection between a flight control computer and a simulation tester according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1 and fig. 2, according to a specific embodiment of the present invention, a method for fast simulation verification of an flight control computer is provided, where the method for fast simulation verification of an flight control computer includes: performing signal cross-linking on a simulation tester and a flight control computer to realize simulation of the flight control computer; step two, judging a slow variable simulation step length adjustment condition and a slow variable simulation step length adjustment exit condition of the flight control computer in real time in the process of simulating the flight control computer so as to adjust the slow variable simulation step length of the flight control computer; step three, simulating the flight control computer according to the adjusted slow variable simulation step length; and step four, repeating the step one to the step three until the simulation is finished.
By applying the configuration mode, the method provides a fast simulation verification method for the flight control computer, under the condition that the signal cross-linking of the simulation tester and the flight control computer is kept unchanged, the slow variable simulation step length adjustment condition and the slow variable simulation step length adjustment exit condition of the flight control computer are judged in real time to adjust the slow variable simulation step length of the flight control computer, and the fast simulation verification of the unmanned plane flight control computer can be realized.
Further, in the invention, in order to realize the rapid simulation verification of the unmanned plane flight control computer, in the second step, when the roll angular rate and the speed change rate of the flight control computer meet the slow variable simulation step length adjustment condition, the slow variable simulation step length of the flight control computer is adjusted to be N of the reference simulation step length0Multiple, N0Greater than 1. By applying the configuration mode, when the flight control computer meets the step size simulation adjustment condition, the slow variable simulation step size Nn of the flight control computer is adjusted to be N of the reference simulation step size0And the simulation speed of the unmanned aerial vehicle flight control computer can be greatly improved.
As a specific embodiment of the invention, the slow variables of the flight control computer include the heading angle, longitude, latitude, and aircraft mass. The slow variable simulation step length adjustment condition comprises that the roll angle speed of the flight control computer is continuously less than 0.2deg/s for 1s and the speed change rate of the flight control computer is continuously less than 0.1m/s for 10s2。
Further, in the invention, when the flight control computer meets the condition of quitting the step size simulation adjustment, in order to ensure the simulation to be real and accurate,the slow variable simulation step size needs to be adjusted to the reference simulation step size in time. Specifically, in the present invention, in step two, when the aileron control voltage change or the engine throttle change of the flight control computer satisfies the slow variable simulation step length adjustment exit condition, the slow variable simulation step length Nn of the flight control computer is adjusted to the reference simulation step length N0。
As a specific embodiment of the present invention, the slow variable simulation step adjustment exit condition includes that the change of the control voltage of the aileron of the flight control computer is greater than 0.2V or the change of the engine throttle is greater than 0.1% of the adjustable range. Specifically, engine throttle changes as referred to herein include engine throttle voltage changes, engine throttle PWM changes, or other changes to the engine throttle.
For further understanding of the present invention, the method for fast simulation verification of an flight control computer according to the present invention is described in detail below with reference to fig. 1 and 2.
As shown in fig. 1 to 2, according to an embodiment of the present invention, a method for fast simulation verification of an flight control computer is provided, in a simulation process of the flight control computer, a simulation tester simulates real equipment to communicate with the flight control computer in real time. The flight control computer acquires attitude and position information required by flight control through communication, and outputs a control signal through control resolving. The simulation tester collects the control signal output by the flight control computer to carry out flight dynamics simulation to obtain the attitude and the position of the airplane.
When the flight control computer rapid simulation verification method is adopted to simulate the flight control computer, firstly, the first step is carried out, and the simulation of the flight control computer is realized on the basis of not changing the signal cross-linking relation, the working process and the time sequence of a simulation tester and the flight control computer;
and step two, in the process of simulating the flight control computer, judging a slow variable simulation step length adjustment condition and a slow variable simulation step length adjustment exit condition of the flight control computer in real time to adjust the slow variable simulation step length of the flight control computer, wherein the simulation step lengths of other variables are kept unchanged. The slow variables of the flight control computer comprise a course angle, longitude, latitude and airplane quality, and other variables of the flight control computer comprise northbound speed, eastern speed, ground speed, rolling angular speed, pitching angular speed, course angular speed, rolling angle, pitching angle and altitude.
Specifically, when the roll angle speed of the flight control computer is continuously less than 0.2deg/s for 1s and the speed change rate of the flight control computer is continuously less than 0.1m/s for 10s2At the moment, the slow variable simulation step length is adjusted, and the slow variable simulation step length Nn of the flight control computer is adjusted to be N of the reference simulation step length0Multiple, N0Equal to 10, reference simulation step length N0And the simulation time is 0.001s, and the slow variable simulation step length Nn of the flight control computer is 0.01 s.
When the control voltage change of the aileron of the flight control computer is more than 0.2V or the throttle change of the engine is more than 0.1 percent of the adjustable range, the slow variable simulation step length Nn is not adjusted at the moment, and the slow variable simulation step length Nn of the flight control computer is set as the reference simulation step length N0At this time, the slow variable simulation step length Nn of the flight control computer is 0.001 s.
And step three, simulating the flight control computer according to the adjusted slow variable simulation step length. Collecting a rudder control signal and an accelerator control signal of a flight control computer, and calculating the state change X of the unmanned aerial vehicle according to six degrees of freedom&And performing integral calculation to obtain the unmanned plane state X, wherein the calculation formula of the unmanned plane state X is as follows.
Wherein X is [ V ]n Ve Vd p q r φ θ h m ψ λ B]T，VnIs the north velocity, VeEast speed, VdIs ground speed, p is rolling angular speed, q is pitch angular speed, r is course angular speed, phi is rolling angle, theta is pitch angle, psi is course angle, lambda is longitude, B is latitude, h is altitude, m is aircraft mass, N is aircraft mass, and0and Nn is the adjusted slow variable simulation step length.
And step four, repeating the step one to the step three until the simulation is finished.
In summary, the present invention provides a method for fast simulation verification of a flight control computer, which, compared with the prior art, judges a slow variable simulation step length adjustment condition and a slow variable simulation step length adjustment exit condition of the flight control computer in real time to adjust a slow variable simulation step length of the flight control computer under the condition that signal cross-linking of a simulation tester and the flight control computer is not changed, and can realize fast simulation verification of the flight control computer of an unmanned aerial vehicle.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A flight control computer rapid simulation verification method is characterized by comprising the following steps:
performing signal cross-linking on a simulation tester and a flight control computer to realize simulation of the flight control computer;
step two, judging a slow variable simulation step length adjustment condition and a slow variable simulation step length adjustment exit condition of the flight control computer in real time in the process of simulating the flight control computer so as to adjust the slow variable simulation step length of the flight control computer;
step three, simulating the flight control computer according to the adjusted slow variable simulation step length;
and step four, repeating the step one to the step three until the simulation is finished.
2. The method as claimed in claim 1, wherein in the second step, when the roll angle rate and the speed change rate of the flight control computer satisfy the slow variable simulation step length adjustment condition, the slow variable simulation step length of the flight control computer is adjusted to N of the reference simulation step length0Multiple, N0Greater than 1.
3. The method of claim 2, wherein the slow-variant simulation step size adjustment condition comprises that the roll angle rate of the flight control computer is continuously less than 0.2deg/s for 1s and less than 0.1m/s for 10s, and the change rate of the speed of the flight control computer is continuously less than 0.2deg/s2。
4. The flight control computer rapid simulation verification method according to any one of claims 1 to 3, wherein in the second step, when the change of the aileron control voltage of the flight control computer or the change of the engine throttle meets a slow variable simulation step length adjustment exit condition, the slow variable simulation step length of the flight control computer is adjusted to a reference simulation step length.
5. The flight control computer rapid simulation verification method according to claim 4, wherein the slow variable simulation step adjustment exit condition comprises that the aileron control voltage variation of the flight control computer is greater than 0.2V or the engine throttle variation is greater than 0.1% of an adjustable range.
6. The flight control computer rapid simulation verification method of claim 4, wherein the slow variables of the flight control computer comprise heading angle, longitude, latitude, and aircraft mass.
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| CN116661480A (en) * | 2022-02-18 | 2023-08-29 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle rapid simulation auxiliary decision-making method |
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| CN116661480A (en) * | 2022-02-18 | 2023-08-29 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle rapid simulation auxiliary decision-making method |
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