CN112083661A - Integrated virtual simulation test system - Google Patents
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- CN112083661A CN112083661A CN202010773452.9A CN202010773452A CN112083661A CN 112083661 A CN112083661 A CN 112083661A CN 202010773452 A CN202010773452 A CN 202010773452A CN 112083661 A CN112083661 A CN 112083661A
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- 238000013519 translation Methods 0.000 claims description 18
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- 239000013307 optical fiber Substances 0.000 claims description 14
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Abstract
The invention discloses an integrated virtual simulation test system, which comprises: the control object virtual module is used for simulating the action of a real control object; the sensor virtual module is used for sensing the action of the real control object simulated by the control object virtual module to obtain and output sensitive information; the control computer virtual module is used for resolving the received sensitive information to generate a control instruction; and the actuator virtual module is used for executing corresponding actions according to the control instructions, and the actions act on the control object simulated by the control object virtual module to realize closed-loop simulation control. The invention can realize the distributed control verification of two or more sets of control systems, namely, the simulation verification of various different control targets can be realized through one set of system, thereby improving the verification simulation efficiency and reducing the workload and the equipment cost.
Description
Technical Field
The invention belongs to the technical field of simulation verification, and particularly relates to an integrated virtual simulation test system.
Background
At present, a digital simulation means is usually adopted to simulate a control system, in the existing simulation system, the simulation verification of a single control target can be usually realized, if the simulation verification of a plurality of control targets is required, a plurality of sets of systems are required to be arranged for the simulation verification, and the system has the advantages of large workload, low efficiency and high equipment cost.
Disclosure of Invention
The technical problem of the invention is solved: the defects of the prior art are overcome, and the integrated virtual simulation test system is provided, so that simulation verification of various different control targets can be realized through one set of system.
In order to solve the technical problem, the invention discloses an integrated virtual simulation test system, which comprises: the virtual control system comprises a control object virtual module, a sensor virtual module, an actuator virtual module and a plurality of control computer virtual modules;
the control object virtual module is used for simulating the action of a real control object;
the sensor virtual module is used for sensing the action of the real control object simulated by the control object virtual module to obtain sensitive information; sending the sensitive information to a corresponding control computer virtual module;
the control computer virtual module is used for resolving the received sensitive information to generate a control instruction;
and the actuator virtual module is used for executing corresponding actions according to the control instructions, and the actions act on the control object simulated by the control object virtual module to realize closed-loop simulation control.
In the integrated virtual simulation test system, the sensitive information includes: and the control object virtual module simulates a translational position measurement value, a speed measurement value, a rotation angle measurement value and an angular speed measurement value of the control object.
In the integrated virtual simulation test system, the control computer virtual module is configured to:
comparing the received translational position measured value, the speed measured value, the rotation angle measured value and the angular speed measured value with a corresponding translational position target value, a corresponding speed target value, a corresponding rotation angle target value and a corresponding angular speed target value to obtain a translational deviation value, a corresponding speed deviation value, a corresponding rotation angle deviation value and a corresponding angular speed deviation value;
and generating a control instruction according to the obtained translation deviation value, the speed deviation value, the rotation angle deviation value and the angular speed deviation value.
In the above integrated virtual simulation test system, the control object virtual module is configured to:
establishing a translation model of a control object according to Newton's three-large law;
according to the rotation characteristics, a rotation model of the control object under the action of different moments is established;
and simulating a real control object and the action of the real control object based on the translation model and the rotation model.
In the above integrated virtual simulation test system, the control object virtual module is further configured to:
adjusting a time term in the translation model to enable the adjusted time term T to be N T, and accelerating the translation model; wherein t represents the standard time of the real control object running under the actual working condition, and N represents the acceleration multiplying power;
based on the accelerated translation model, the accelerated running of the simulated real control object is realized, and further the simulation acceleration of the control object is realized.
In the integrated virtual simulation test system, the sensor virtual module is used for:
carrying out digital processing according to the working principle of the sensor to construct a sensor model;
based on the sensor model, sensing the action of the real control object simulated by the control object virtual module to obtain sensitive information;
and sending the sensitive information to the corresponding control computer virtual module.
In the above integrated virtual simulation test system, the actuator virtual module is configured to:
carrying out digital processing according to the working principle of the actuator to construct and obtain an actuator model;
based on the actuator model, corresponding actions are executed according to the control instructions, and the actions act on the control object simulated by the control object virtual module to realize closed-loop simulation control.
In the above integrated virtual simulation test system, the method further includes: an evaluation module to:
acquiring a nominal value output by a control object virtual module;
acquiring sensitive information output by a sensor virtual module;
comparing the obtained nominal value with the sensitive information;
and evaluating the precision of the integrated virtual simulation test system according to the comparison result of the nominal value and the sensitive information.
In the above integrated virtual simulation test system, the method further includes: the communication module is used for providing an optical fiber communication network and realizing communication and data interaction among the control object virtual module, the sensor virtual module, the actuator virtual module, the plurality of control computer virtual modules and the evaluation module; wherein, communication module includes: a plurality of reflective memories and optical fiber routers are arranged on the control object virtual module, the sensor virtual module, the actuator virtual module, the plurality of control computer virtual modules and the evaluation module; and each reflective memory is respectively accessed into the optical fiber router through an optical fiber.
In the integrated virtual simulation test system, each control computer virtual module is respectively matched with different test items and test requirements, and each control computer virtual module respectively corresponds to a routing address.
The invention has the following advantages:
(1) the invention discloses an integrated virtual simulation test system which can realize distributed control verification of two or more sets of control systems, namely, the simulation verification of various different control targets can be realized through one set of system, the verification simulation efficiency is improved, and the workload and the equipment cost are reduced.
(2) The invention discloses an integrated virtual simulation test system, which is designed with an accelerated simulation mode, can realize rapid model verification, greatly shortens the simulation test period, is convenient for production research and improves the scientific research production efficiency.
(3) The invention discloses an integrated virtual simulation test system, wherein all modules are communicated based on a reflective memory and an optical fiber communication network, so that the synchronism and the real-time performance of simulation data are ensured.
Drawings
Fig. 1 is a system composition diagram of an integrated virtual simulation test system in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
One of the core ideas of the invention is that: the integrated virtual simulation test system is provided, and distributed control verification of two or more sets of control systems is realized through one set of simulation test system: the control object virtual module simulates an analog control object, the motion information of the analog control object can be sensitive by the sensor virtual module, the control computer virtual module carries out resolving according to the sensitive information output by the sensor to generate and output a corresponding control instruction, the actuator virtual module carries out action (outputs corresponding force and moment) according to the control instruction, the action acts on the analog control object, the motion information of the control object is changed, the control object is sensitive by the sensor virtual module again, and the like, so that the whole closed-loop simulation control is realized.
As shown in fig. 1, in this embodiment, the integrated virtual simulation test system includes: the virtual control system comprises a control object virtual module, a sensor virtual module, an actuator virtual module and a plurality of control computer virtual modules.
And the control object virtual module is used for simulating the action of the real control object.
In this embodiment, the control object virtual module may specifically be configured to: establishing a translation model of a control object according to Newton's three-large law; according to the rotation characteristics, a rotation model of the control object under the action of different moments is established; and simulating a real control object and the action of the real control object based on the translation model and the rotation model.
Preferably, in this embodiment, the control object may specifically refer to a satellite, and in an actual application process of the satellite, a motion cycle of the satellite is long, and if simulation is performed according to real time in a verification simulation test, the whole verification simulation test cycle is long, which is not beneficial to scientific research and production. Therefore, in this embodiment, simulation acceleration can be realized based on the control object virtual module, and operations of models with different magnifications can be realized. Specifically, the method comprises the following steps: the acceleration of the translation model can be realized by adjusting the time term in the translation model to make the adjusted time term T equal to N x T; based on the accelerated translation model, the accelerated running of the simulated real control object is realized, and then the simulation acceleration of the control object is realized, so that the simulation test period is greatly shortened, the production research is convenient to carry out, and the scientific research production efficiency is improved. Wherein t represents the standard time of the real control object running under the actual working condition, and N represents the acceleration multiplying factor.
The sensor virtual module is used for sensing the action of the real control object simulated by the control object virtual module to obtain sensitive information; and sending the sensitive information to the corresponding control computer virtual module.
In this embodiment, the sensor virtual module may be specifically configured to: carrying out digital processing according to the working principle of the sensor to construct a sensor model; based on the sensor model, sensing the action of the real control object simulated by the control object virtual module to obtain sensitive information; and sending the sensitive information to the corresponding control computer virtual module. The sensitive information may specifically include: a measured value of the translational position, a measured value of the velocity, a measured value of the rotational angle, a measured value of the angular velocity, and the like of the virtual control object.
Preferably, various digital noises, such as random noise, constant noise or mixed noise, can be properly introduced in the process of constructing the sensor model so as to improve the authenticity of the sensor model.
And the control computer virtual module is used for resolving the received sensitive information to generate a control instruction.
In this embodiment, the number of the control computer virtual modules may be matched according to the number of the test targets (test items or test requirements), generally, one test target corresponds to the simulation requirements of a plurality of test targets, one test target corresponds to one control computer virtual module, and each control computer virtual module corresponds to one routing address.
Preferably, the solution flow of the control computer virtual module may be as follows: comparing the received translational position measured value, the speed measured value, the rotation angle measured value and the angular speed measured value with a corresponding translational position target value, a corresponding speed target value, a corresponding rotation angle target value and a corresponding angular speed target value to obtain a translational deviation value, a corresponding speed deviation value, a corresponding rotation angle deviation value and a corresponding angular speed deviation value; and then, generating a corresponding control instruction according to the obtained translation deviation value, the speed deviation value, the rotation angle deviation value and the angular speed deviation value.
And the actuator virtual module is used for executing corresponding actions according to the control instructions, and the actions act on the control object simulated by the control object virtual module.
In this embodiment, the executor virtual module may specifically be configured to: carrying out digital processing according to the working principle of the actuator to construct and obtain an actuator model; based on the actuator model, corresponding actions are executed according to the control instructions, and the actions act on the control object simulated by the control object virtual module to realize closed-loop simulation control.
Preferably, various types of digital noise, such as random noise, constant noise or mixed noise, can be appropriately introduced in the process of constructing the actuator model, so as to improve the authenticity of the actuator model.
And the evaluation module is used for acquiring a nominal value output by the control object virtual module, acquiring sensitive information output by the sensor virtual module, comparing the acquired nominal value with the sensitive information, and evaluating the precision of the integrated virtual simulation test system according to the comparison result of the nominal value and the sensitive information.
In this embodiment, the following formula can be used to evaluate the system:
σ2the smaller the value of (c), the higher the accuracy. Wherein x iskRepresents the output value, y, of the sensor at the k secondkThe value represents the nominal value of the control target virtual module output at the k-th second, and n represents the sampling point.
And the communication module is used for providing an optical fiber communication network and realizing communication and data interaction among the control object virtual module, the sensor virtual module, the actuator virtual module, the plurality of control computer virtual modules and the evaluation module.
In this embodiment, as shown in fig. 1, the communication module may specifically include: a plurality of reflective memories and optical fiber routers are arranged on the control object virtual module, the sensor virtual module, the actuator virtual module, the plurality of control computer virtual modules and the evaluation module; and each reflective memory is respectively accessed into the optical fiber router through an optical fiber.
Preferably, different addresses and data spaces can be allocated to the modules under the integrated virtual simulation test system, so that data interaction among the modules is realized. Different addresses are distributed to different modules, so that the modules can be ensured not to generate conflict in an optical fiber communication network, different address spaces are distributed to the different modules, the modules are written in or read out from a specified address segment for output, and the control among the virtual modules of different control computers is realized by the method, so that the switching among the virtual modules of the different control computers is realized.
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.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. An integrated virtual simulation test system, comprising: the virtual control system comprises a control object virtual module, a sensor virtual module, an actuator virtual module and a plurality of control computer virtual modules;
the control object virtual module is used for simulating the action of a real control object;
the sensor virtual module is used for sensing the action of the real control object simulated by the control object virtual module to obtain sensitive information; sending the sensitive information to a corresponding control computer virtual module;
the control computer virtual module is used for resolving the received sensitive information to generate a control instruction;
and the actuator virtual module is used for executing corresponding actions according to the control instructions, and the actions act on the control object simulated by the control object virtual module to realize closed-loop simulation control.
2. The integrated virtual simulation test system according to claim 1, wherein the sensitive information comprises: and the control object virtual module simulates a translational position measurement value, a speed measurement value, a rotation angle measurement value and an angular speed measurement value of the control object.
3. The integrated virtual simulation test system of claim 2, wherein the control computer virtual module is configured to:
comparing the received translational position measured value, the speed measured value, the rotation angle measured value and the angular speed measured value with a corresponding translational position target value, a corresponding speed target value, a corresponding rotation angle target value and a corresponding angular speed target value to obtain a translational deviation value, a corresponding speed deviation value, a corresponding rotation angle deviation value and a corresponding angular speed deviation value;
and generating a control instruction according to the obtained translation deviation value, the speed deviation value, the rotation angle deviation value and the angular speed deviation value.
4. The integrated virtual simulation test system of claim 1, wherein the control object virtual module is configured to:
establishing a translation model of a control object according to Newton's three-large law;
according to the rotation characteristics, a rotation model of the control object under the action of different moments is established;
and simulating a real control object and the action of the real control object based on the translation model and the rotation model.
5. The integrated virtual simulation test system of claim 4, wherein the control object virtual module is further configured to:
adjusting a time term in the translation model to enable the adjusted time term T to be N T, and accelerating the translation model; wherein t represents the standard time of the real control object running under the actual working condition, and N represents the acceleration multiplying power;
based on the accelerated translation model, the accelerated running of the simulated real control object is realized, and further the simulation acceleration of the control object is realized.
6. The integrated virtual simulation test system of claim 1, wherein the sensor virtual module is configured to:
carrying out digital processing according to the working principle of the sensor to construct a sensor model;
based on the sensor model, sensing the action of the real control object simulated by the control object virtual module to obtain sensitive information;
and sending the sensitive information to the corresponding control computer virtual module.
7. The integrated virtual simulation test system of claim 1, wherein the actuator virtualization module is configured to:
carrying out digital processing according to the working principle of the actuator to construct and obtain an actuator model;
based on the actuator model, corresponding actions are executed according to the control instructions, and the actions act on the control object simulated by the control object virtual module to realize closed-loop simulation control.
8. The integrated virtual simulation test system according to claim 1, further comprising: an evaluation module to:
acquiring a nominal value output by a control object virtual module;
acquiring sensitive information output by a sensor virtual module;
comparing the obtained nominal value with the sensitive information;
and evaluating the precision of the integrated virtual simulation test system according to the comparison result of the nominal value and the sensitive information.
9. The integrated virtual simulation test system according to claim 8, further comprising: the communication module is used for providing an optical fiber communication network and realizing communication and data interaction among the control object virtual module, the sensor virtual module, the actuator virtual module, the plurality of control computer virtual modules and the evaluation module; wherein, communication module includes: a plurality of reflective memories and optical fiber routers are arranged on the control object virtual module, the sensor virtual module, the actuator virtual module, the plurality of control computer virtual modules and the evaluation module; and each reflective memory is respectively accessed into the optical fiber router through an optical fiber.
10. The integrated virtual simulation test system according to claim 1, wherein each control computer virtual module is respectively matched with different test items and test requirements, and each control computer virtual module corresponds to a routing address.
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| CN202010773452.9A CN112083661B (en) | 2020-08-04 | Integrated virtual simulation test system |
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