CN110764435A - Full-configuration real-time simulation test method based on double-star hardware-in-loop - Google Patents
Full-configuration real-time simulation test method based on double-star hardware-in-loop Download PDFInfo
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Abstract
The invention discloses a full-configuration real-time simulation test method based on a double-star hardware-in-the-loop, which comprises the following steps: step 1, two sets of satellites are respectively carried with a real-time simulation test system; step 2, the data communication mechanisms of the two sets of test systems carry out communication interaction in a fixed-period mutual transmission mode, one set of test system is used as a time sequence main control end, the other set of test system is used as a controlled end, and the controlled end receives the rising edge or falling edge trigger mode of a main control end signal to finish timing work; and 3, using a software time complementing mode to ensure the time consistency of the track data and synchronize the time between the two sets of test systems. The invention can carry out communication protocol interaction in two modes of RS422 serial port communication or UDP network port communication under the condition of engineering constraint, and complete the formation test task of double-star formation by a time synchronization method.
Description
Technical Field
The invention relates to the technical field of spacecraft engineering, in particular to a full-configuration real-time simulation testing method based on a double-satellite hardware-in-the-loop, and more particularly relates to a debugging method of a joint test platform of a hardware-in-the-loop real-time simulation system for attitude and orbit control of two sets of satellites.
Background
The satellite attitude and orbit control system is one of the most complex subsystems in a plurality of subsystems of the satellite, and plays a very critical role in satellite control. At present, simulation test work in the satellite attitude and orbit control system research and development stage is completed by a full-configuration real-time simulation system of real-time satellite hardware in a ring, so that the integrity of the satellite attitude and orbit control performance and the reliability and safety of a flight task are verified. The hardware-in-loop is an important engineering application form of the real-time simulation technology, namely, a controlled object is simulated by adopting a real-time mathematical model and is connected with a real controller to perform semi-physical real-time simulation test on the whole system, so that verification and optimization of a design scheme can be conveniently realized, the development period is shortened, and the research and development cost is reduced. At present, a fully-configured real-time simulation test system of satellite hardware in a ring mainly uses a single satellite as a control object to perform a test, and cannot complete real-time simulation test work between two satellites.
Disclosure of Invention
The invention aims to provide a double-satellite hardware-in-the-loop full-configuration real-time simulation test method and a double-satellite hardware-in-the-loop full-configuration real-time simulation test system, which can realize double-satellite combined simulation test of satellite formation through a satellite hardware-in-the-loop full-configuration real-time simulation system under the engineering constraint condition.
In order to achieve the above object, the present invention provides a full configuration real-time simulation test method based on a double-star hardware-in-the-loop, which comprises the following steps:
step 1, two sets of satellites are respectively carried with a real-time simulation test system;
step 2, the data communication mechanisms of the two sets of test systems carry out communication interaction in a fixed-period mutual transmission mode, one set of test system is used as a time sequence main control end, the other set of test system is used as a controlled end, and the controlled end receives the rising edge or falling edge trigger mode of a main control end signal to finish timing work;
and 3, using a software time complementing mode to ensure the time consistency of the track data and synchronize the time between the two sets of test systems.
Preferably, in step 3, the software timing compensation means: and the time supplementing module is designed for supplementing the time, the position and the speed of the satellite of one set of test system to the state of the satellite of the other set of test system, and is used as the input of the relative observed quantity to update the relative state quantity of the satellite in the two sets of test systems.
Preferably, the communication protocol interaction mode between the two sets of real-time simulation test systems includes RS422 serial port communication and/or UDP internet access communication.
Preferably, the two satellites are respectively formed into a team auxiliary satellite and a team main satellite according to roles borne by the satellites, wherein any one set of satellite real-time simulation test system bears the role of the main satellite, and the other set of satellite real-time simulation test system bears the role of the auxiliary satellite.
Preferably, the real-time simulation test system is a hardware-in-the-loop real-time simulation test system.
Preferably, the real-time simulation test systems are all connected with a satellite attitude and orbit control computer.
Preferably, the communication priority order of the method is: the communication interrupt priority of the real-time simulation test system and the satellite attitude and orbit control computer > the simulation step length interrupt priority of the real-time simulation test system > the interrupt priority of the communication between the test system as the time sequence main control end and the test system as the time sequence controlled end.
Preferably, the method is used for mutual transmission of communication data of the real-time simulation test system according to the pure kinetic integral value, and error information of single machine measurement is not added.
Has the advantages that:
in the method, a data communication mechanism adopts a fixed-period mutual transmission mode, time synchronization between two satellite systems ensures the time consistency of orbit data in a software time supplementing mode, and under the condition of RS422 interruption, a real-time simulation system with one set of satellite hardware in a ring is designed to be used as a time sequence main control end, so that communication protocol interaction can be carried out in two modes of RS422 serial port communication and UDP internet access communication under the condition of engineering constraint, and a formation test task of double-satellite formation is completed through the time synchronization method.
Drawings
FIG. 1 is a diagram of a simulation test system of a dual real-time hardware-in-the-loop.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Aiming at the characteristics of the double-star formation flying task, two satellites are required to have respective simulation test systems, and the two satellites have time synchronization and cooperative control functions, so that the attitude and orbit control simulation test work of the double-star formation can be completed.
In the invention, full configuration refers to the situation that software and hardware test systems such as real-time simulation test equipment, a dynamic model, a single machine model, a communication interface and the like are completely matched.
Examples
As shown in figure 1, the method of the invention is realized by a full-configuration real-time simulation test system, the whole system consists of two sets of completely same satellite full-configuration real-time simulation test systems to form a double real-time hardware-in-the-loop simulation test system, wherein each set of satellite real-time simulation system consists of a satellite orbit dynamics simulation model, a satellite attitude dynamics model, a satellite measurement single machine model, a satellite execution single machine model, a satellite control single machine model, a signal processing box, a simulation satellite affair subsystem, full-configuration hardware equipment of a real-time system cabinet, a power supply box and an exchanger. Each dSPACE hardware system is provided with IO board cards, DA board cards, AD board cards, serial port cards, bus cards and other board cards. Wherein dSPACE is used for processing satellite orbit and attitude dynamics and computing work of a satellite single-machine model.
The attitude and orbit control computer is connected with the satellite affair simulating subsystem of the equipment through a bus, the control computer sends instructions to the attitude and orbit control computer by using the signal processing box, and the attitude and orbit control computer feeds satellite data back to the signal box for data processing. The two sets of real-time test systems are controlled by using a controller, communicate through an Ethernet database and reflect parameters and control results on a remote terminal interface. The two sets of satellite hardware-in-the-loop real-time simulation test systems perform time correction through time correction equipment comprising a collection board card and a counting board card, perform communication protocol interaction through two modes of RS422 serial port communication or UDP network port communication, and can select a proper communication mode according to specific experimental conditions. The data communication mechanism of the system carries out communication interaction in a fixed-period sending mode, and under the condition of RS422 interruption, one set of real-time simulation system of the satellite hardware-in-the-loop is designed to be used as a time sequence main control end, and the other set of real-time simulation system of the satellite is designed to be used as a controlled end to receive timing of the satellite real-time simulation system in an edge mode.
Firstly, a communication protocol for running and mutual transmission of the double real-time simulation test systems needs to be defined, and the specific content of the communication protocol is shown in table 1.
TABLE 1 track data Transmission Format
According to the test of the double real-time simulation test systems, one set of hardware-in-the-loop full-configuration real-time simulation system serves as a secondary star, the other set of real-time simulation test system serves as a primary star, the logical flag bit of the primary and secondary star flag in the model is modified into that the flag is 1, the primary star serves as the primary star, and the flag bit of the primary and secondary star in the orbit data packet which is packaged and sent to the AOCC by the UDP network port end of the model is modified.
The RS422 serial port communication is to connect two sets of systems through RS422 serial ports to complete communication interaction, and the UDP network port communication is to transmit track data through network communication between the systems. The time synchronization between two sets of satellite systems in the double real-time simulation test system can ensure the time consistency of orbit data by using an external clock and a software time supplementing mode, and the invention selects the software time supplementing mode. Although the UDP port communication can cause the condition of missing shooting due to network instability, the system can carry out time compensation through the time compensation module. The software time-complementing module design of the double real-time system is to complement the satellite time, position and speed of one set of satellite hardware-in-the-loop real-time simulation system to the satellite time state of the other set of satellite real-time simulation system, and the satellite time, position and speed are used as the input of the relative observed quantity. The mechanism of the specific time complementing module is as follows:
1) determining time deviation according to a timestamp corresponding to the track information in the track parameter packet in the communication protocol;
2) a quantity of state being
The expression dX ═ f (x) is as follows:
in the formula, x y zvxvyvzWhich respectively represent the position and velocity of the satellite in the x, y, z directions,
dX represents the differential of the state quantity, and μ represents the earth gravity constant 3.986005 × 1014m3/s2。
In addition, definition of aJ2，aJ3，aJ4Is J2, J3 and J4 terms of perturbation acceleration (m/s)2)，REIs 6378140m, J2Is 1.082636X 10-3m/s2，J3Is-2.5356 x 10-6m/s2，J4Is-1.62336 x 10-6m/s2。
Wherein r is the module value (m) of the position under the inertial coordinate system of the satellite J2000.0, and X is the position velocity (m/s) under the inertial coordinate system of the satellite J2000.0.
In the hardware configuration process of the double-star real-time simulation test system, the following steps are required to be set:
1) due to the fact that errors are added in the dynamic model of the double-star system, the track time, position and speed parameters can be deviated, and time system inconsistency is caused, the double-star real-time simulation system needs to conduct mutual communication of communication data according to a pure dynamic integral value, and error information of single-machine measurement is not added.
2) The method comprises the steps that the states of main satellites and auxiliary satellites of two satellites are required to be defined during the orbit control time of the double-satellite on-orbit formation, namely the satellites bear the roles of the formation auxiliary satellites and the formation main satellites, so that one set of real-time simulation system of the satellite hardware-in-the-loop bears the roles of the main satellites, and the other set of real-time simulation system of the satellite bears the roles of the auxiliary satellites.
3) In a full-configuration real-time simulation test system of double-star hardware-in-the-loop, in order to ensure that hardware response is completed in a simulation period, the communication priority of the hardware needs to be set, and the condition that the response sequence of the hardware is not right or not responded in the simulation period due to disorder of the priority sequence is prevented, so that the time sequence processing sequence of the hardware is influenced. The final communication priority order is: the communication interruption priority of the satellite real-time simulation system and the satellite attitude and orbit control computer, the simulation step length interruption priority of the real-time system, and the communication interruption priority between the satellite real-time system of the time sequence main control end and the satellite real-time system of the time sequence controlled end.
In summary, the double-star hardware-in-loop-based full-configuration real-time simulation test method of the invention can perform communication protocol interaction in two ways of RS422 serial port communication and UDP internet access communication under the engineering constraint condition, and complete the formation test task of double-star formation through a time synchronization method.
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 (8)
1. A full-configuration real-time simulation test method based on a double-star hardware-in-the-loop is characterized by comprising the following steps:
step 1, two sets of satellites are respectively carried with a real-time simulation test system;
step 2, the data communication mechanisms of the two sets of test systems carry out communication interaction in a fixed-period mutual transmission mode, one set of test system is used as a time sequence main control end, the other set of test system is used as a controlled end, and the controlled end receives the rising edge or falling edge trigger mode of a main control end signal to finish timing work;
and 3, using a software time complementing mode to ensure the time consistency of the track data and synchronize the time between the two sets of test systems.
2. The method for testing the full-configuration real-time simulation of the double-star hardware-in-the-loop based on the claim 1 is characterized in that in the step 3, the software time compensation means that: and the time supplementing module is designed for supplementing the time, the position and the speed of the satellite of one set of test system to the state of the satellite of the other set of test system, and is used as the input of the relative observed quantity to update the relative state quantity of the satellite in the two sets of test systems.
3. The method for full configuration real-time simulation testing based on the two-star hardware-in-the-loop as claimed in claim 1, wherein the communication protocol interaction mode between the two sets of real-time simulation testing systems comprises RS422 serial port communication and/or UDP internet access communication.
4. The method according to claim 1, wherein the dual satellites are respectively formed into teams of satellites and teams of masters according to roles assumed by the satellites, wherein any one set of satellite real-time simulation test system takes on the role of a master and the other set of satellite real-time simulation test system takes on the role of a slave.
5. The method according to claim 1, wherein the real-time simulation test system is a hardware-in-the-loop real-time simulation test system.
6. The method for full configuration real-time simulation testing based on two-star hardware-in-the-loop of claim 1, wherein the real-time simulation testing systems are all connected with a satellite attitude and orbit control computer.
7. The full-configuration real-time simulation testing method based on the two-star hardware-in-the-loop as claimed in claim 6, wherein the communication priority order of the method is: the communication interrupt priority of the real-time simulation test system and the satellite attitude and orbit control computer > the simulation step length interrupt priority of the real-time simulation test system > the interrupt priority of the communication between the test system as the time sequence main control end and the test system as the time sequence controlled end.
8. The method for the full configuration real-time simulation test based on the two-star hardware-in-the-loop as claimed in claim 1, wherein the method is used for mutual transmission of communication data of the real-time simulation test system according to a pure dynamics integral value without adding error information of single machine measurement.
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| CN111208746A (en) * | 2020-04-16 | 2020-05-29 | 中国人民解放军国防科技大学 | Beidou global system software and hardware collaborative simulation test verification system and establishment method |
| CN111290294A (en) * | 2020-02-24 | 2020-06-16 | 上海航天控制技术研究所 | All-digital rapid simulation method suitable for double-star formation control |
| CN111367313A (en) * | 2020-02-28 | 2020-07-03 | 上海航天控制技术研究所 | Double-star formation full-period operation control method and system based on flexible switching |
| CN113581492A (en) * | 2021-07-23 | 2021-11-02 | 上海卫星工程研究所 | Adaptive configuration method applied to dual-satellite combined in-orbit roles |
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Cited By (4)
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