CN111381516A - Automatic statistical method and system for testing time of complex system - Google Patents
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Abstract
The invention discloses a method and a system for automatically counting the test time of a complex system, wherein the method comprises the following steps: building a semi-physical simulation test system; sending a test start timestamp to a time counting system; sending the star sensor working timestamp to a time statistical system; a controller in the semi-physical simulation test system calculates a control moment, obtains a control strategy according to the control moment, sends the control strategy to an execution mechanism, and sends a working timestamp of a computer to a time statistic system; step five: and the executing mechanism is controlled according to the control strategy, simultaneously sends the air injection timestamp of the thruster to the time statistical system, then the sensor measures the controlled attitude information, and judges whether the controlled attitude information meets the control index. The invention can automatically count the system mode running time and the single machine power-on time and output and display the system mode running time and the single machine power-on time under the condition of ensuring that the attitude and orbit control ground test is normally carried out.
Description
Technical Field
The invention belongs to the technical field of spacecraft engineering, and particularly relates to a method and a system for automatically counting test time of a complex system.
Background
In the satellite engineering practice, due to the importance of a product system interface, an attitude and orbit control subsystem ground simulation test is a satellite engineering development process which must be experienced. In order to ensure the quality of the ground simulation test, detailed function and performance tests need to be performed during the ground simulation test, and various time information needs to be involved in the analysis process of the test result. Because the automatic testing technology of the satellite system in China starts late, at present, a time statistical method in the ground simulation test of the attitude and orbit control subsystem has no mature scheme selection. If the mode of manually recording the system running time and the single machine power-on time is adopted, the test workload is additionally increased, the test period is prolonged, and the economy is poor.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method and the system overcome the defects of the prior art, and automatically count the system mode running time and the single machine power-on time and output and display the system mode running time and the single machine power-on time under the condition of ensuring the normal operation of the attitude and orbit control ground test.
The purpose of the invention is realized by the following technical scheme: an automatic statistical method for testing time of a complex system comprises the following steps: the method comprises the following steps: building a dynamic model simulation system according to the combination of a satellite attitude dynamic equation and a kinematic equation; building a semi-physical simulation test system; then executing the step two; step two: setting an initial value of a satellite attitude angle in a dynamic model simulation system, outputting the initial value to a sensor of a semi-physical simulation test system to start a semi-physical simulation test, and sending a test starting timestamp to a time statistic system; then, executing the step three; step three: a sensor in the semi-physical simulation test system transmits an attitude initial value to a controller in the semi-physical simulation test system, and simultaneously transmits a star sensor working time stamp to a time statistic system; then executing the step four; step four: a controller in the semi-physical simulation test system calculates a control moment, obtains a control strategy according to the control moment, sends the control strategy to an execution mechanism, sends a working timestamp of a computer to a time statistic system, and then executes the step five; step five: the executing mechanism is controlled according to the control strategy, meanwhile, the air injection timestamp of the thruster is sent to the time statistical system, then the sensor measures the controlled attitude information, and whether the controlled attitude information meets the control index is judged; if the semi-physical simulation test meets the control index, ending the semi-physical simulation test, sending a test ending timestamp to a time counting system, and then executing the step six; if the control index is not met, updating the controlled attitude information to the initial attitude value in the third step, and then executing the third step; step six: and the time counting system calculates the system test time length according to the received test starting timestamp and the test ending timestamp, and counts the operation time lengths of the sensor, the controller and the actuator in the test process according to the star sensor working timestamp, the computer working timestamp and the thruster air injection timestamp.
In the above automatic statistical method for testing time of complex system, in the step one, the attitude dynamics equation is:
wherein I ═ IxIyIz]TIs the rotational inertia of the satellite, Ix,Iy,IzThe components of the satellite rotational inertia in three axial directions under the body coordinate system are respectively, and omega is ═ omegaxωyωz]TPosture of doing things likeAngular velocity of state, omegax,ωy,ωzAre respectively the components of the satellite attitude angular velocity in three axial directions under the body coordinate system,
in order to be the attitude angular acceleration,
the components of the satellite attitude angular acceleration in three axial directions under the body coordinate system are respectively, and T ═ TxTyTz]TFor controlling torque, Tx,Ty,TzThe components of the satellite attitude angular acceleration in three axial directions under the body coordinate system are respectively.
In the above automatic statistical method for testing time of complex system, in the first step, the kinematic equation is:
wherein phi, theta and psi are attitude angles of the satellite in three axial directions under the body coordinate system,
the differential quantities of attitude angles of the satellite in three axial directions under the body coordinate system are shown.
In the automatic statistical method for the testing time of the complex system, in the first step, the semi-physical simulation system comprises a sensor, a controller and an actuating mechanism; the sensor is a star sensor, the controller is an on-satellite computer, and the actuating mechanism is a thruster; the star sensor measures attitude angles, transmits the obtained attitude information to the on-board computer, generates an attitude control strategy by the on-board computer, and jets air by the thruster to change the attitude of the satellite.
In the above automatic statistical method for testing time of complex system, in the fourth step, the control torque is:
wherein k isP1,kD1,kP2,kD2,kP3,kD3Are all control parameters of the system.
In the above automatic statistical method for testing time of complex system, in step four, the control strategy is:
wherein u isx,uy,uzFor the duration of the jet, M1,M2,M3The jet efficiency of the thruster.
An automatic statistical system for testing time of a complex system, comprising: the first module is used for building a dynamic model simulation system according to the combination of a satellite attitude dynamic equation and a kinematic equation; building a semi-physical simulation test system; the second module is used for setting an initial value of a satellite attitude angle in the dynamic model simulation system, outputting the initial value to a sensor of the semi-physical simulation test system to start a semi-physical simulation test, and sending a test start timestamp to the time statistic system; the third module is used for transmitting the attitude initial value to a controller in the semi-physical simulation test system by a sensor in the semi-physical simulation test system and simultaneously transmitting the working time stamp of the star sensor to the time statistic system; the fourth module is used for calculating a control moment by a controller in the semi-physical simulation test system, obtaining a control strategy according to the control moment, sending the control strategy to the execution mechanism, and sending a working timestamp of the computer to the time statistical system; the fifth module is used for controlling the actuating mechanism according to the control strategy, sending the air injection timestamp of the thruster to the time statistical system, measuring the controlled attitude information by the sensor, and judging whether the controlled attitude information meets the control index; if the semi-physical simulation test meets the control index, ending the semi-physical simulation test, and sending a test ending timestamp to a time counting system; if the control index is not met, updating the controlled attitude information to the initial attitude value in the third module; and the sixth module is used for calculating the system test duration by the time statistical system according to the received test start timestamp and test end timestamp, and counting the operation durations of the sensor, the controller and the actuator in the test process according to the star sensor working timestamp, the computer working timestamp and the thruster air injection timestamp.
In the automatic statistical system for testing time of the complex system, the attitude dynamics equation is as follows:
wherein I ═ IxIyIz]TFor satellite inertia, ω ═ ωxωyωz]TIn order to be the attitude angular velocity,
for attitude angular acceleration, T ═ TxTyTz]TTo control the torque.
In the automatic statistical system for testing time of the complex system, the kinematic equation is as follows:
wherein phi, theta and psi are satellite attitude angles,
differential of satellite attitude angle, ωx,ωy,ωzIs a component of the attitude angular velocity ω.
In the automatic statistical system for the testing time of the complex system, the semi-physical simulation system comprises a sensor, a controller and an actuating mechanism; the sensor is a star sensor, the controller is an on-satellite computer, and the actuating mechanism is a thruster; the star sensor measures attitude angles, transmits the obtained attitude information to the on-board computer, generates an attitude control strategy by the on-board computer, and jets air by the thruster to change the attitude of the satellite.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention realizes the unified management of the time information by sending the time stamps of all steps in the semi-physical simulation test process to the time counting system, and achieves the effect of conveniently obtaining the information of the test starting time, the single machine power on/off time, the test ending time and the like when the test result is analyzed.
(2) The invention keeps the universality of the input interface of the time counting system, does not need to increase hardware resources, and is easy to realize on ground operation and stars.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of an automatic statistical method for testing time of a complex system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of automatic statistics of test time of a complex system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of an automatic statistical method for testing time of a complex system according to an embodiment of the present invention. As shown in fig. 1, the automatic statistical method for testing time of complex system includes the following steps:
step 1, building a dynamic model simulation system according to the combination of satellite attitude dynamics and a kinematic equation; building a semi-physical simulation test system; step 2 is then performed.
The attitude dynamics equation is:
wherein I ═ IxIyIz]TIs the rotational inertia of the satellite, Ix,Iy,IzThe components of the satellite rotational inertia in three axial directions under the body coordinate system are respectively, and omega is ═ omegaxωyωz]TAs attitude angular velocity, omegax,ωy,ωzAre respectively the components of the satellite attitude angular velocity in three axial directions under the body coordinate system,
in order to be the attitude angular acceleration,
the components of the satellite attitude angular acceleration in three axial directions under the body coordinate system are respectively, and T ═ TxTyTz]TFor controlling torque, Tx,Ty,TzThe components of the satellite attitude angular acceleration in three axial directions under the body coordinate system are respectively.
The kinematic equation is:
wherein phi, theta and psi are attitude angles of the satellite in three axial directions under the body coordinate system,
the differential quantities of attitude angles of the satellite in three axial directions under the body coordinate system are shown.
The semi-physical simulation system comprises a sensor, a controller and an executing mechanism, wherein the sensor is a star sensor, the controller is an on-satellite computer, and the executing mechanism is a thruster. The star sensor measures attitude angles, obtained attitude information is transmitted to the on-board computer, the on-board computer generates an attitude control strategy, the thruster jets air to change the attitude of the satellite, and the thruster can be replaced by a propulsion equivalent device in the test process.
Step 2, setting an initial value phi of a satellite attitude angle in a dynamic model simulation system0,θ0,ψ0And outputting the data to a sensor of a semi-physical simulation test system to start a semi-physical simulation test, sending a test start timestamp to a time statistic system, and executing the step 3.
And 3, transmitting the initial attitude value to a controller in the semi-physical simulation test system by a sensor in the semi-physical simulation test system, simultaneously transmitting the working time stamp of the star sensor to a time statistic system, and then executing the step 4.
And 4, calculating a control moment by a controller in the semi-physical simulation test system according to a PD control scheme:
wherein k isP1,kD1,kP2,kD2,kP3,kD3Respectively, control parameters of the system. Then, the control strategy is calculated:
wherein u isx,uy,uzFor the duration of the jet, M1,M2,M3The jet efficiency of the thruster.
And the controller obtains the control strategy and then sends the control strategy to an execution mechanism, and simultaneously sends the working time stamp of the computer to a time counting system, and then step 5 is executed.
And 5, controlling by the executing mechanism according to the control strategy, and sending the air injection time stamp of the thruster to a time counting system. Then, the attitude information after the sensor measurement control judges whether the control result meets the following requirements:
wherein, the three control indexes are usually 0.005-0.02 degree.
If the semi-physical simulation test meets the index requirement, ending the semi-physical simulation test, sending a test ending timestamp to a time counting system, and then executing the step 6; if not, the attitude angle after control is updated to the initial attitude value phi0,θ0,ψ0Then, step 3 is executed, forming a closed loop control.
And 6, calculating the system test duration by the time statistical system according to the received test starting timestamp and the test ending timestamp, and counting the operation durations of the sensor, the controller and the actuator in the test process according to the star sensor working timestamp, the computer working timestamp and the thruster air injection timestamp.
Specifically, the embodiment provides a digital orbit model-based semi-physical testing technology for double-star formation, and the method is applied to flight testing of double-star formation. The method for testing the double-star formation semi-physical object based on the digital orbit model specifically comprises the following steps:
step 1, establishing a set of satellite attitude and orbit control subsystem ground semi-physical simulation test system
As shown in fig. 2, a complete set of satellite attitude and orbit control subsystem ground semi-physical simulation test system includes a set of dynamic simulation model, a set of semi-physical simulation test system, and a set of time automatic statistics system. The system specifically comprises high-precision satellite attitude dynamics, a kinematic model, sensor electric signal source output, an attitude sensor, an on-satellite controller, an actuating mechanism, a propulsion simulator, actuating mechanism acquisition equipment, a timestamp input module, a time statistical processing module, a time result display module system and the like.
Step 2, setting simulation initial value to start test
And setting a satellite initial attitude in the high-precision attitude dynamics model, transmitting the satellite initial attitude to a semi-physical simulation system through a serial port, and simultaneously transmitting a timestamp to a time statistic system. And the attitude initial value is transmitted to the sensor electric signal source, and the electric signal source outputs a corresponding analog signal to the attitude sensor. All configuration options may be set via the remote interface. According to the code amount of the attitude dynamics and the kinematics simulation model, the two models can be placed in the same operating environment or two different operating environments. In this example, the same operating environment is designed.
Step 3, the sensor transmits the information to the controller
And (4) the attitude sensor transmits the attitude information and the track information in the step (2) to the controller.
Step 4 the controller generates a control strategy
The attitude sensor transmits attitude information to the on-satellite controller, and the on-satellite controller transmits a control signal to the actuating mechanism according to a pre-designed control strategy and feeds the signal back to the dynamic model.
Step 5 the actuator controls
Judging whether the result controlled by the executing mechanism meets the index requirement, if so, ending the test, and executing the step 6; if the control strategy is not met, the on-board executing mechanism executes the control strategy, and then the executing mechanism acquisition equipment feeds back the controlled result to the dynamic model as the input of the next period control, and the step 3 is carried out to form closed-loop control. And (3) completing response after the propulsion simulator receives the track control strategy, feeding back a response result to the dynamic model, and turning to the step 3 to form closed-loop control. If the system mode is changed or the single machine is powered on or powered off in the attitude control or track control process, the time stamp is automatically sent to the time automatic counting system through the bus.
Step 6, time information processing and displaying
And the time automatic counting system records after receiving each timestamp, starts to count the time after the system enters the mode state and displays the time if receiving a new system mode state word, and calculates the lasting time of the last mode and records the time into the database. And if the time stamp of the power-on and power-off of the single machine is received, counting the power-on duration of the single machine, and displaying the power-on duration until the time stamp of the power-off of the single machine is received. And recording the current power-on time of the single machine into the database after the single machine is powered off.
This embodiment also provides a complex system test time automatic statistic system, includes: the first module is used for building a dynamic model simulation system according to the combination of a satellite attitude dynamic equation and a kinematic equation; building a semi-physical simulation test system; the second module is used for setting an initial value of a satellite attitude angle in the dynamic model simulation system, outputting the initial value to a sensor of the semi-physical simulation test system to start a semi-physical simulation test, and sending a test start timestamp to the time statistic system; the third module is used for transmitting the attitude initial value to a controller in the semi-physical simulation test system by a sensor in the semi-physical simulation test system and simultaneously transmitting the working time stamp of the star sensor to the time statistic system; the fourth module is used for calculating a control moment by a controller in the semi-physical simulation test system, obtaining a control strategy according to the control moment, sending the control strategy to the execution mechanism, and sending a working timestamp of the computer to the time statistical system; the fifth module is used for controlling the actuating mechanism according to the control strategy, sending the air injection timestamp of the thruster to the time statistical system, measuring the controlled attitude information by the sensor, and judging whether the controlled attitude information meets the control index; if the semi-physical simulation test meets the control index, ending the semi-physical simulation test, and sending a test ending timestamp to a time counting system; if the control index is not met, updating the controlled attitude information to the initial attitude value in the third module; and the sixth module is used for calculating the system test duration by the time statistical system according to the received test start timestamp and test end timestamp, and counting the operation durations of the sensor, the controller and the actuator in the test process according to the star sensor working timestamp, the computer working timestamp and the thruster air injection timestamp.
In the embodiment, the time stamps of all steps in the semi-physical simulation test process are sent to the time counting system to realize the unified management of the time information, and the effect of conveniently obtaining the information such as the test starting time, the single-machine power on/off time, the test ending time and the like when the test result is analyzed is achieved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. An automatic statistical method for testing time of a complex system is characterized by comprising the following steps:
the method comprises the following steps: building a dynamic model simulation system according to the combination of a satellite attitude dynamic equation and a kinematic equation; building a semi-physical simulation test system; then executing the step two;
step two: setting an initial value of a satellite attitude angle in a dynamic model simulation system, outputting the initial value to a sensor of a semi-physical simulation test system to start a semi-physical simulation test, and sending a test starting timestamp to a time statistic system; then, executing the step three;
step three: a sensor in the semi-physical simulation test system transmits an attitude initial value to a controller in the semi-physical simulation test system, and simultaneously transmits a star sensor working time stamp to a time statistic system; then executing the step four;
step four: a controller in the semi-physical simulation test system calculates a control moment, obtains a control strategy according to the control moment, sends the control strategy to an execution mechanism, sends a working timestamp of a computer to a time statistic system, and then executes the step five;
step five: the executing mechanism is controlled according to the control strategy, meanwhile, the air injection timestamp of the thruster is sent to the time statistical system, then the sensor measures the controlled attitude information, and whether the controlled attitude information meets the control index is judged; if the semi-physical simulation test meets the control index, ending the semi-physical simulation test, sending a test ending timestamp to a time counting system, and then executing the step six; if the control index is not met, updating the controlled attitude information to the initial attitude value in the third step, and then executing the third step;
step six: and the time counting system calculates the system test time length according to the received test starting timestamp and the test ending timestamp, and counts the operation time lengths of the sensor, the controller and the actuator in the test process according to the star sensor working timestamp, the computer working timestamp and the thruster air injection timestamp.
2. The automatic statistical method for testing time of complex system as claimed in claim 1, wherein: in step one, the attitude dynamics equation is:
wherein I is satellite inertia, omega is attitude angular velocity,
the attitude angular acceleration and T the control moment.
3. The automatic statistical method for testing time of complex system as claimed in claim 1, wherein: in step one, the kinematic equation is:
wherein phi, theta and psi are attitude angles of the satellite in three axial directions under the body coordinate system,
the differential quantities of attitude angles of the satellite in three axial directions under the body coordinate system are shown.
4. The automatic statistical method for testing time of complex system as claimed in claim 1, wherein: in the first step, the semi-physical simulation system comprises a sensor, a controller and an execution mechanism; the sensor is a star sensor, the controller is an on-satellite computer, and the actuating mechanism is a thruster; the star sensor measures attitude angles, transmits the obtained attitude information to the on-board computer, generates an attitude control strategy by the on-board computer, and jets air by the thruster to change the attitude of the satellite.
5. The automatic statistical method for testing time of complex system as claimed in claim 1, wherein: in step four, the control torque is:
wherein k isP1,kD1,kP2,kD2,kP3,kD3Are all control parameters of the system.
6. The automatic statistical method for testing time of complex system as claimed in claim 5, wherein: in step four, the control strategy is:
wherein u isx,uy,uzFor the duration of the jet, M1,M2,M3The jet efficiency of the thruster.
7. An automatic statistical system for testing time of a complex system is characterized by comprising:
the first module is used for building a dynamic model simulation system according to the combination of a satellite attitude dynamic equation and a kinematic equation; building a semi-physical simulation test system;
the second module is used for setting an initial value of a satellite attitude angle in the dynamic model simulation system, outputting the initial value to a sensor of the semi-physical simulation test system to start a semi-physical simulation test, and sending a test start timestamp to the time statistic system;
the third module is used for transmitting the attitude initial value to a controller in the semi-physical simulation test system by a sensor in the semi-physical simulation test system and simultaneously transmitting the working time stamp of the star sensor to the time statistic system;
the fourth module is used for calculating a control moment by a controller in the semi-physical simulation test system, obtaining a control strategy according to the control moment, sending the control strategy to the execution mechanism, and sending a working timestamp of the computer to the time statistical system;
the fifth module is used for controlling the actuating mechanism according to the control strategy, sending the air injection timestamp of the thruster to the time statistical system, measuring the controlled attitude information by the sensor, and judging whether the controlled attitude information meets the control index; if the semi-physical simulation test meets the control index, ending the semi-physical simulation test, and sending a test ending timestamp to a time counting system; if the control index is not met, updating the controlled attitude information to the initial attitude value in the third module;
and the sixth module is used for calculating the system test duration by the time statistical system according to the received test start timestamp and test end timestamp, and counting the operation durations of the sensor, the controller and the actuator in the test process according to the star sensor working timestamp, the computer working timestamp and the thruster air injection timestamp.
8. The automatic statistical system for testing time of complex system as claimed in claim 7, wherein: the attitude dynamics equation is:
wherein I is satellite inertia, omega is attitude angular velocity,
the attitude angular acceleration and T the control moment.
9. The automatic statistical system for testing time of complex system as claimed in claim 7, wherein: the kinematic equation is:
wherein phi, theta and psi are satellite attitude angles,
differential of satellite attitude angle, ωx,ωy,ωzIs a component of the attitude angular velocity ω.
10. The automatic statistical system for testing time of complex system as claimed in claim 7, wherein: the semi-physical simulation system comprises a sensor, a controller and an actuating mechanism; the sensor is a star sensor, the controller is an on-satellite computer, and the actuating mechanism is a thruster; the star sensor measures attitude angles, transmits the obtained attitude information to the on-board computer, generates an attitude control strategy by the on-board computer, and jets air by the thruster to change the attitude of the satellite.
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