CN111103810A - Spacecraft GNC system simulation test method based on prototype digital twins framework - Google Patents
Spacecraft GNC system simulation test method based on prototype digital twins framework Download PDFInfo
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Abstract
A spacecraft GNC system simulation test method based on prototype digital twins architecture belongs to the technical field of space system engineering. By the method, products such as a controller and the like which are researched in a key way are accessed into a hardware semi-physical environment by utilizing the semi-physical environment at the early stage of system design verification to form an actual control system, and the actual control system and a simulation system based on digitization run jointly to verify the actual performance index, testability and other design requirements of the system to form a digital twin system architecture, so that various key characteristics such as functions, time sequences, interfaces and the like in system design can be verified quickly, and the correctness and the completeness of system design are improved under the condition of limited resources.
Description
Technical Field
The invention relates to a spacecraft GNC system simulation test method based on a prototype digital twins framework, which is used in system early design verification and belongs to the technical field of space system engineering.
Background
A ground digital twin attitude and orbit control system of an in-orbit satellite is an important supporting part of a heaven and earth integrated in-orbit support center and is a spacecraft dynamic software model which is built on the basis of an in-orbit actual physical system through a simulation technology. The twin system can receive on-orbit flight data of the attitude and orbit control system, ground test data, characteristic information and other database data and is used for reproducing the real flight state of the on-orbit spacecraft. According to the operation characteristics of the spacecraft ground dynamic simulation system, the on-orbit health state of the spacecraft attitude and orbit control system is evaluated through an artificial intelligence technology, and the fault is predicted in an early stage. The twin system is not only a key for reproducing the real flight state of the attitude and orbit control system of the orbit spacecraft, but also a verification system of health evaluation, fault prediction, autonomous fault isolation and recovery generation strategies.
The ground digital twin attitude and orbit control system of the in-orbit satellite aims at highly simulating the real design state of the attitude and orbit control system of the in-orbit spacecraft, can receive in-orbit flight data and is used for reproducing the real flight state of the in-orbit spacecraft. The health state of the attitude and orbit control system of the in-orbit spacecraft can be evaluated according to the running performance of the ground dynamic simulation system through the autonomous learning and artificial intelligence technology, the possible technical faults can be predicted, and fault isolation and recovery strategies can be autonomously generated and directly verified.
A ground digital twin attitude and orbit control system of an in-orbit satellite is established on the basis of a complex virtual satellite modeling technology, takes a series of multi-subject modeling technologies such as machinery, electricity, electronics, physics and the like as a supported model, covers the realization directions of technologies such as communication, time sequence, interface, power supply and the like of a spacecraft control system, and namely accurately approaches the design state of a real in-orbit spacecraft by utilizing a highly complex mathematical model. The platform attitude and orbit control system consists of an actuating mechanism, a sensor, a controller, a propulsion system and the like, wherein each part of the control system is a highly simulated mathematical model which contains all design information of a single-machine product.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a spacecraft GNC system simulation test method based on a prototype digital twin architecture, utilizes a semi-physical environment, connects products such as a controller which is researched in a key way and the like into a hardware semi-physical environment to form an actual control system, and jointly runs with a simulation system based on digitization to verify the actual performance index, testability and other design requirements of the system to form the digital twin system architecture.
The technical solution of the invention is as follows: a spacecraft GNC system simulation test method based on prototype digital twins architecture comprises the following steps:
preparing a prototype upper computer and a plurality of prototype lower computers; building a prototype digital twins system according to an actual system needing to be tested; the prototype lower computers in the prototype digital twins system are connected to the information cable network, and each prototype lower computer is connected with the prototype upper computer;
acquiring a system design state by an actual system, and decomposing a prototype digital twins system into a hardware part and a software part according to the design state; the hardware part comprises the configuration of each prototype lower computer and the connection relation between the prototype lower computers, and the software part comprises a single-machine model and a controller model;
configuring and connecting the prototype lower computer according to the hardware part;
respectively constructing each single machine model and each controller model in a prototype upper computer, then sending each single machine model and each controller model to a prototype lower computer through the prototype upper computer, and loading each single machine model and each controller model in the prototype lower computer;
starting each prototype lower computer through the prototype upper computer, starting a simulation test, monitoring the running state of each prototype lower computer through the prototype upper computer, and judging whether the running of each prototype lower computer has defects or not;
if the defect is not found, ending the simulation test; if the defects are found, the defects are overcome by modifying the single machine model and the controller model or changing the connection of the information cable network, and the simulation test is carried out again; and finishing the simulation test until the operation of each prototype lower computer has no defects.
Furthermore, each prototype lower computer is connected with the prototype upper computer through the Ethernet.
Further, the ethernet includes an 1000/100mbps bandwidth switch.
Further, the information cable network is a 1553B bus, an Ethernet or an asynchronous serial port bus.
Further, the single machine model comprises a single electrical performance model and a single electrical interface function model; the single electrical performance model is realized by combining a functional model and a time sequence model, and the single electrical interface functional model is realized by an interface communication model.
Further, the controller model comprises a task function model, a task scheduling model and a data interface function model; the GNC function scheduling method comprises the steps that a task scheduling model achieves scheduling and time sequence of each task in a GNC function, the task function model achieves various functions of the GNC, a data interface model is an interface standard and achieving among the task function models, and different task function models transmit data through the data interface model.
Furthermore, the CPU frequency of the prototype upper computer is not lower than 3.0GHZ and is of an x86 architecture, the network requirement is 100/1000Mbps self-adaptation, and the backplane bus is PCI/PCI-E.
Furthermore, the CPU frequency of the prototype lower computer is not lower than 2.6GHZ and is of an x86 architecture, the network requirement is 100/1000Mbps self-adaptation, and the backplane bus is CPCI.
Furthermore, the connection relationship between the prototype lower computers is realized by the connection between various board cards of the prototype lower computers.
Further, the board cards of the prototype lower computer comprise a 1553B board card, an AD front board card, a DIO front board card, an RS422 front board card, a DA front board card, an AD rear board card, a DIO rear board card, an RS422 rear board card and a DA rear board card.
Compared with the prior art, the invention has the advantages that:
(1) the invention uses the spacecraft GNC system simulation test method based on the prototype digital twins architecture, can develop prototype realization and design verification in the early stage of system design, avoids the problem in the system design from being discovered after the production of real products, improves the system development efficiency and reduces the cost of changing iteration;
(2) the invention realizes the synchronization and comparison of digital simulation and prototype simulation, can run the semi-physical simulation of the prototype system while carrying out pure digital simulation of the system model, synchronously compares the running results of the two parties and finds possible problems in the system design process;
(3) the invention seamlessly joins the processes of digital simulation- > prototype system semi-physical simulation- > real product semi-physical simulation, firstly, the digital simulation and the prototype system semi-physical simulation can be synchronously and parallelly carried out, and then the prototype lower computers in the prototype semi-physical simulation are replaced with the real products one by one, thereby realizing the seamless joining from the prototype system to the real system and effectively carrying out the system design, verification and test processes in the whole development process.
Drawings
FIG. 1 is a schematic diagram of a prototype digital twin architecture according to the present invention;
FIG. 2 is a schematic diagram of a software portion of the present invention;
FIG. 3 is a schematic flow chart of the method of the present invention.
Detailed Description
As shown in fig. 3, the method for simulating and testing the GNC system of the spacecraft based on the prototype digital twins architecture includes the following steps:
preparing a prototype upper computer and a plurality of prototype lower computers, and building a prototype digital twin system according to an actual system to be tested; the prototype lower computers in the prototype digital twins system are connected to the information cable network, and each prototype lower computer is connected with the prototype upper computer;
acquiring a system design state by an actual system, and decomposing a prototype digital twins system into a hardware part and a software part according to the design state; the hardware part comprises the configuration of each prototype lower computer and the connection relation between the prototype lower computers, and the software part comprises a single-machine model and a controller model;
configuring and connecting the prototype lower computer according to the hardware part;
respectively constructing each single machine model and each controller model in a prototype upper computer, then sending each single machine model and each controller model to a prototype lower computer through the prototype upper computer, and loading each single machine model and each controller model in the prototype lower computer;
starting each prototype lower computer through the prototype upper computer, starting a simulation test, monitoring the running state of each prototype lower computer through the prototype upper computer, and judging whether the running of each prototype lower computer has defects or not;
if the defect is not found, ending the simulation test; if the defects are found, the defects are overcome by modifying the single machine model and the controller model or changing the connection of the information cable network, and the simulation test is carried out again; and finishing the simulation test until the operation of each prototype lower computer has no defects.
The method has the advantages of quickly acquiring the accurate transparent clock, timely modifying the transparent clock value in the synchronous message and providing basic guarantee for high-precision clock synchronization.
The preferred embodiment is as follows:
firstly, according to the system composition block diagram of fig. 1, main components such as a prototype upper computer, a prototype lower computer and an information cable network are prepared to form a prototype digital twin system. Then, the user analyzes the system according to the design state of the system to be verified, and decomposes a hardware part and a software part;
and for the hardware part, the configuration of each prototype lower computer and the connection relation among the prototype lower computers are included. And various board cards in the prototype lower computer are responsible for realizing an electrical interface.
As shown in FIG. 2, the software component is analyzed in a simplified manner and is decomposed into a stand-alone model and a controller model.
The single machine model comprises a single machine electrical performance model and a single machine electrical interface function model; the single electrical performance model is realized by combining a functional model and a time sequence model, and the single electrical interface functional model is realized by an interface communication model;
the controller model comprises a task function model, a task scheduling model and a data interface function model; the GNC function model mainly realizes various main functions (such as guidance, navigation, control, instruction, telemetering and the like) of the GNC, and the data interface model is an interface standard and realization among the task function models and transmits data in different task function models through the data interface model; all software parts are modeled and realized in a prototype upper computer, then digital simulation is carried out, the software parts are solidified on the premise of ensuring the correctness of the digital simulation, and the software parts are prepared to be integrated with hardware;
after the hardware part and the software part are prepared, a user sends each single machine model and the controller model to the prototype lower computer through the prototype upper computer, and loads each single machine model and the controller model in the prototype lower computer;
after the software part is downloaded into the hardware part, the system has the combined operation capacity of software and hardware; at the moment, the user connects the prototype lower electromechanical interfaces simulating each single machine through the information cable network according to the design state of the system to be verified to form a complete system information connection relation;
after completing the cable connection and model downloading of the system, a user starts the system simulation through the prototype upper computer, observes the running state of the system through the prototype upper computer and confirms whether the running of the system has defects (correctness and completeness); if the defect is not found, ending the simulation test; if the system defect is found, the system design is perfected and realized by modifying the single machine model and the software model and changing the connection of the information cable network, the simulation is started again, and whether the system design meets the actual use requirement is determined through the simulation result.
Preferably, the prototype upper computer adopts a high-performance computer, a Matlab/Simulink development kit and a rapid prototype model library are operated on the prototype upper computer, and the indexes of the prototype upper computer mainly include: type (2): a CPU: no less than 3.0GHZ, x86 architecture; network: 100/1000Mbps adaptation; a back plate bus: PCI/PCI-E. And (3) installing MATLAB software on the prototype upper computer, wherein the version is not lower than 2017b, and ensuring that tool boxes such as Simulink Coder, Embedded Coder and the like can be normally used. The prototype upper computer mainly comprises 2 types of functions, namely the functions of editing and sending a single machine model and a controller model to the prototype lower computer, and the functions of being used as a human-computer interaction interface of a user, and facilitating personnel to edit, transmit and monitor operation process data.
Preferably, the prototype lower computer adopts a high-performance computer, a Vxworks development kit and an operating system run on the prototype lower computer, and the index requirements of the prototype lower computer mainly include: type (2): a CPU: no less than 2.6GHZ, x86 architecture; network: 100/1000Mbps adaptation; a back plate bus: CPCI. And the prototype upper computer is provided with Vxworks software with the version of 6.6. The IO integrated circuit board includes: a 1553B board card, an AD front board card, a DIO front board card, an RS422 front board card, a DA front board card, an AD rear board card, a DIO rear board card, an RS422 rear board card and a DA rear board card.
Preferably, the information cable network is an information cable connection between different board cards in the prototype lower computer. According to the difference of information and communication mode in the system, it can make customization development.
Preferably, the ethernet is composed of 1000/100mbps bandwidth switches and is responsible for realizing the network communication function of the prototype upper computer and the prototype lower computer.
The method is applied to the design simulation verification process of the XXX aerospace model GNC system and the XX-X aerospace model GNC system, an electrical performance and information interface prototype matching simulation test is developed by constructing a GNC prototype system, and the problems of the system and a single machine in the aspects of communication protocol and time sequence design are found and modified in the test process, so that the method is proved to have the function and the efficiency of developing verification in the early design stage.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A spacecraft GNC system simulation test method based on a prototype digital twins framework is characterized by comprising the following steps:
preparing a prototype upper computer and a plurality of prototype lower computers; building a prototype digital twins system according to an actual system needing to be tested; the prototype lower computers in the prototype digital twins system are connected to the information cable network, and each prototype lower computer is connected with the prototype upper computer;
acquiring a system design state by an actual system, and decomposing a prototype digital twins system into a hardware part and a software part according to the design state; the hardware part comprises the configuration of each prototype lower computer and the connection relation between the prototype lower computers, and the software part comprises a single-machine model and a controller model;
configuring and connecting the prototype lower computer according to the hardware part;
respectively constructing each single machine model and each controller model in a prototype upper computer, then sending each single machine model and each controller model to a prototype lower computer through the prototype upper computer, and loading each single machine model and each controller model in the prototype lower computer;
starting each prototype lower computer through the prototype upper computer, starting a simulation test, monitoring the running state of each prototype lower computer through the prototype upper computer, and judging whether the running of each prototype lower computer has defects or not;
if the defect is not found, ending the simulation test; if the defects are found, the defects are overcome by modifying the single machine model and the controller model or changing the connection of the information cable network, and the simulation test is carried out again; and finishing the simulation test until the operation of each prototype lower computer has no defects.
2. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 1, wherein: and each prototype lower computer is connected with the prototype upper computer through the Ethernet.
3. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 2, wherein: the ethernet includes an 1000/100mbps bandwidth switch.
4. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 1, wherein: the information cable network is a 1553B bus, an Ethernet or an asynchronous serial port bus.
5. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 1, wherein: the single machine model comprises a single electrical performance model and a single electrical interface function model; the single electrical performance model is realized by combining a functional model and a time sequence model, and the single electrical interface functional model is realized by an interface communication model.
6. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 5, wherein: the controller model comprises a task function model, a task scheduling model and a data interface function model; the GNC function scheduling method comprises the steps that a task scheduling model achieves scheduling and time sequence of each task in a GNC function, the task function model achieves various functions of the GNC, a data interface model is an interface standard and achieving among the task function models, and different task function models transmit data through the data interface model.
7. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 1, wherein: the CPU frequency of the prototype upper computer is not lower than 3.0GHZ, the prototype upper computer is of an x86 architecture, the network requirement is 100/1000Mbps self-adaption, and the backboard bus is PCI/PCI-E.
8. The method according to claim 7, wherein the method comprises: the CPU frequency of the prototype lower computer is not lower than 2.6GHZ and is an x86 framework, the network requirement is 100/1000Mbps self-adaptation, and the backboard bus is CPCI.
9. The method for simulation test of a spacecraft GNC system based on a prototype digital twinned architecture, according to claim 1, wherein: the connection relationship between the prototype lower computers is realized by the connection between various board cards of the prototype lower computers.
10. The method according to claim 9, wherein the method comprises: the board cards of the prototype lower computer comprise a 1553B board card, an AD front board card, a DIO front board card, an RS422 front board card, a DA front board card, an AD rear board card, a DIO rear board card, an RS422 rear board card and a DA rear board card.
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