CN112947124A - Rocket semi-physical simulation test system - Google Patents
Rocket semi-physical simulation test system Download PDFInfo
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- CN112947124A CN112947124A CN202110416385.XA CN202110416385A CN112947124A CN 112947124 A CN112947124 A CN 112947124A CN 202110416385 A CN202110416385 A CN 202110416385A CN 112947124 A CN112947124 A CN 112947124A
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Abstract
The application relates to a rocket semi-physical simulation test system which comprises a real-time simulation machine, a navigation computer, a flight control computer, a three-axis rotary table, a steering engine, a black box, a remote measuring radio station and a ground station. The flight control computer is respectively in communication connection with the real-time simulation machine, the navigation computer, the steering engine, the black box and the remote measuring radio station, the real-time simulation machine is respectively in communication connection with the navigation computer and the three-axis rotary table, the ground station is in communication connection with the remote measuring radio station, and the navigation computer is arranged on the three-axis rotary table and is in linkage motion along with the three-axis rotary table. The real-time simulator is used for controlling the three-axis turntable to rotate to simulate the flight attitude of the rocket, and the flight control computer is used for respectively linking the real-time simulator, the navigation computer, the steering engine, the black box, the remote measuring radio station and the ground station to carry out semi-physical simulation test of the rocket control system. The purposes of efficiently testing and improving the reliability of the rocket control system are achieved by introducing the flight control computer, the navigation computer, the steering engine, the black box, the ground station and the telemetering radio station into the simulation loop.
Description
Technical Field
The application relates to the technical field of aerospace, in particular to a rocket semi-physical simulation test system.
Background
With the development of rocket technology, the reliability requirement of a rocket control system is higher and higher. The rocket control system is a core component of the rocket and plays a vital role in rocket flight. In order to ensure the reliability of the rocket control system and thus the success of the rocket flight, a large number of experiments must be carried out on the ground, such as semi-physical simulation experiments. The simulation system is suitable for a traditional semi-physical simulation platform of a rocket, is provided with a simulation system built based on a ballistic simulator, a rotary table control cabinet, a three-axis rotary table and the like, can meet a semi-physical simulation experiment controlled by a rocket sublevel landing area, and simulates the flight process of the rocket sublevel on the ground. However, in the process of implementing the invention, the inventor finds that the traditional semi-physical simulation platform cannot be efficiently tested, and the technical problem of improving the reliability of the rocket control system exists.
Disclosure of Invention
Therefore, in order to solve the above technical problems, it is necessary to provide a rocket semi-physical simulation test system capable of efficiently testing and improving reliability of a rocket control system.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
the embodiment of the invention provides a rocket semi-physical simulation test system, which comprises a real-time simulation machine, a navigation computer, a flight control computer, a three-axis turntable, a steering engine, a black box, a remote measuring radio station and a ground station, wherein the real-time simulation machine is connected with the navigation computer;
the flight control computer is respectively in communication connection with the real-time simulation machine, the navigation computer, the steering engine, the black box and the remote measuring radio station, the real-time simulation machine is respectively in communication connection with the navigation computer and the three-axis turntable, the ground station is in communication connection with the remote measuring radio station, and the navigation computer is arranged on the three-axis turntable and performs linkage motion along with the three-axis turntable;
the real-time simulator is used for controlling the three-axis turntable to rotate to simulate the flight attitude of the rocket, and the flight control computer is used for respectively linking the real-time simulator, the navigation computer, the steering engine, the black box, the remote measuring radio station and the ground station to carry out semi-physical simulation test of the rocket control system.
In one embodiment, the three-axis rotary table is provided with an angular displacement sensor which is in communication connection with the real-time simulator and used for measuring the deflection angle of the three-axis rotary table and sending the deflection angle to the real-time simulator.
In one embodiment, the three-axis rotary table is used for rotating the simulated rocket flight attitude after receiving the attitude control command transmitted by the real-time simulator.
In one embodiment, the real-time simulator is used for controlling the three-axis turntable to rotate after receiving a rudder deflection angle command and an operation logic control command transmitted by the flight control computer, and transmitting simulated acceleration information and simulated GPS information to the navigation computer;
the simulated acceleration information and the simulated GPS information are obtained through simulation calculation by the real-time simulator according to the operation logic control instruction by utilizing the rudder deflection angle instruction and the received deflection angle.
In one embodiment, the flight control computer is configured to receive a telemetry test command sent by the ground station via the telemetry station and return telemetry data to the ground station via the telemetry station, and the ground station is configured to detect the returned telemetry data to determine whether the telemetry station is normal.
In one embodiment, the flight control computer is further configured to control the steering engine to deflect and receive a steering deflection angle actually measured by the steering engine after receiving a steering engine test instruction sent by the ground station through the telemetry radio station;
the flight control computer is also used for returning the rudder deflection angle to the ground station through the telemetering radio station, and the ground station is also used for detecting the returned rudder deflection angle to determine whether the steering engine is normal.
In one embodiment, the flight control computer is further configured to receive a rocket erecting instruction sent by the ground station through the telemetry station, and then forward the rocket erecting instruction to the real-time simulator.
In one embodiment, the flight control computer is further configured to receive a rocket ignition instruction sent by the ground station through the telemetry station, forward the rocket ignition instruction to the real-time simulator, enter an automatic control mode, and respectively link the navigation computer, the steering engine, the real-time simulator and the black box to complete rocket closed-loop control.
In one embodiment, the navigation computer is used for measuring the angular velocity information of the three-axis turntable, receiving simulated acceleration information and simulated GPS information sent by the real-time simulator, and sending the calculated position information, velocity information and attitude information of the rocket in flight to the flight control computer;
the position information, the speed information and the attitude information are obtained by the navigation computer through calculation according to the angular velocity information, the simulated acceleration information and the simulated GPS information.
In one embodiment, the telemetry radio comprises a first telemetry radio and a second telemetry radio, the first telemetry radio and the second telemetry radio are wirelessly connected through an antenna, the first telemetry radio is connected with the flight control computer through a communication cable, and the second telemetry radio is connected with the ground station through a communication cable.
One of the above technical solutions has the following advantages and beneficial effects:
according to the rocket semi-physical simulation test system, the flight control computer is used as a core, the real-time simulation machine and the three-axis rotary table are used as an auxiliary, the flight control computer, the navigation computer, the steering engine, the black box, the ground station and the remote measuring radio station in the rocket flight control system are introduced into a simulation loop, sufficient excitation can be provided for a tested part, the track and the attitude in the rocket flight are simulated really, whether the data communication between the flight control computer and each part is normal or not is verified, the convenience of debugging and improving control parameters is greatly improved, the high reliability of the rocket control system is ensured, and powerful support is provided for the successful flight of the rocket.
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FIG. 1 is a schematic diagram of a rocket semi-physical simulation test system in one embodiment;
FIG. 2 is a schematic diagram of a rocket semi-physical simulation test system in another embodiment;
FIG. 3 is a schematic diagram illustrating a flow of operation of the rocket semi-physical simulation test system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element and integrated therewith or intervening elements may be present, i.e., indirectly connected to the other element.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should be considered to be absent and not within the protection scope of the present invention.
The invention provides an effective solution for solving the technical problem that the reliability of a rocket control system cannot be efficiently tested and improved in the traditional semi-physical simulation platform, and the reliability of the rocket control system can be efficiently tested and improved.
Referring to FIG. 1, in one embodiment, the present invention provides a rocket semi-physical simulation test system 100, which includes a real-time simulator 12, a navigation computer 14, a flight control computer 16, a three-axis turntable 18, a steering engine 20, a black box 22, a telemetry station 24 and a ground station 26. The flight control computer 16 is respectively connected with the real-time simulation machine 12, the navigation computer 14, the steering engine 20, the black box 22 and the remote measuring radio station 24 in a communication way. The real-time simulator 12 is communicatively connected to the navigation computer 14 and the three-axis turret 18, respectively. The ground station 26 is communicatively coupled to the telemetry station 24. The navigation computer 14 is mounted on a three-axis turret 18 and follows the three-axis turret 18 for a linked movement. The real-time simulator 12 is used for controlling the three-axis rotary table 18 to rotate to simulate the flight attitude of the rocket. The flight control computer 16 is used for respectively linking the real-time simulation machine 12, the navigation computer 14, the steering engine 20, the black box 22, the remote sensing radio station 24 and the ground station 26 to carry out the semi-physical simulation test of the rocket control system.
It will be appreciated that the flight control computer 16, the navigation computer 14, the steering engine 20, the telemetry station 24, the black box 22 and the ground station 26 are the existing components of the rocket control system during actual flight of the rocket, and belong to the tested components in the semi-physical simulation system. The real-time simulator 12 and the three-axis rotary table 18 do not participate in actual rocket flight and serve as test components in a semi-physical simulation system. The flight control computer 16, the navigation computer 14, the steering engine 20, the remote measuring radio station 24, the black box 22 and the ground station 26 are led into a simulation loop, and are jointly built with the real-time simulator 12 and the three-axis rotary table 18 to form the whole rocket semi-physical simulation test system 100.
The real-time simulator 12 may be an existing computer terminal equipped with an existing real-time operating system in the field, and has good real-time performance. The real-time simulator 12 may be configured to establish a rocket flight control model, calculate a rocket flight trajectory and attitude, receive a rudder deflection angle instruction and an operational logic control instruction transmitted by the flight control computer 16, receive rotation angle data measured by the three-axis turntable 18, introduce a rudder deflection angle and an attitude angle (obtained by resolving the rotation angle data measured by the three-axis turntable 18) obtained by actual measurement into the rocket flight control model, and simulate and solve information such as a position, a speed, and an acceleration of the rocket flight in real time according to the operational logic control instruction transmitted by the flight control computer 16. The real-time simulator 12 may transmit the calculated acceleration data as a simulated acceleration and the calculated position information as simulated GPS information to the navigation calculation for the required navigation calculation.
The three-axis rotary table 18 may be any type of three-axis rotary table 18 known in the art for simulating various flight attitudes during rocket flight under the control of the real-time simulator 12. After the three-axis rotary table 18 receives a corresponding attitude control instruction output by the real-time simulator 12 according to the calculated attitude information, the three-axis rotary table 18 responds quickly, rotates to a specified angle and measures the rotating angle, and feeds back the rotating angle as a deflection angle to the real-time simulator 12 to solve required rocket flight parameters.
For the explanation of the detailed structures of the flight control computer 16, the navigation computer 14, the steering engine 20, the telemetry radio station 24, the black box 22 and the ground station 26 and the functions in actual flight, etc., which are the components of the rocket control system in actual flight of the rocket, reference may be made specifically to the same understanding of the inherent explanation materials of each actual component in the actual rocket control system in the art, and the details are not repeated here. The communication connection among the above components can be realized by adopting communication cable connection.
Specifically, when a semi-physical simulation test is performed, the real-time simulation machine 12, the flight control computer 16, the navigation computer 14, the steering engine 20, the three-axis turntable 18, the ground station 26, the black box 22 and the remote measurement radio station 24 can be independently placed and respectively powered by a power supply provided by a test scene, so that power supply conditions required by normal work of each part in the test are guaranteed.
The navigation computer 14 is installed on the three-axis rotary table 18, the navigation computer 14 will follow the three-axis rotary table 18 to make a linking motion, and the navigation computer 14 and the three-axis rotary table 18 are in a mechanical connection relationship without performing data transmission through a cable. The navigation computer 14 is integrated with a gyroscope, an accelerometer and a GPS receiver, can sense the angular velocity of the three-axis rotary table 18 in semi-physical simulation, and can sense the angular velocity and the acceleration of rocket flight and receive GPS signals of satellites in actual flight. Thus, the navigation computer 14 can measure angular velocity information of the three-axis turret 18.
Ground staff sends each designated test command, flight state switching command, manual or automatic control command, flight phase switching command and other commands to the flight control computer 16 serving as a system core through the ground station 26 and the remote sensing radio station 24 to control and monitor the simulated rocket flight state. The ground station 26 receives the rocket flight state information of each aspect calculated by the flight control computer 16, and can be used for judging whether the rocket flight is abnormal or not, whether ground intervention control measures are taken or not, and the like. The black box 22 stores all the received control instructions and data (i.e. original information) of the flight control computer 16 during rocket flight, and various data solved by the flight control computer 16 and stored operation logic control instructions.
Therefore, ground staff can verify whether the data communication between the flight control computer 16 and each component is normal or not by analyzing the data in the black box 22 and the ground station 26, and then can debug and improve the control parameters of the rocket according to working experience, design requirements and the like, optimize the guidance law and the control law of rocket flight, and complete the rocket semi-physical simulation test.
It should be noted that, in the present application, all the components are installed in the system and/or the solution software existing in the field, and all the various rocket flight related data solutions performed by the components are solution programs/algorithm instructions existing in the rocket flight application in the field, and the corresponding functions can be realized without any program improvement or any adaptive adjustment by those skilled in the art. The dashed connections in fig. 1 represent wireless communication connections, as will be understood in the same way in fig. 2 below.
The rocket semi-physical simulation test system 100 takes the flight control computer 16 as a core, takes the real-time simulation machine 12 and the three-axis rotary table 18 as an auxiliary, introduces the flight control computer 16, the navigation computer 14, the steering engine 20, the black box 22, the ground station 26 and the remote sensing radio station 24 in the rocket flight control system into a simulation loop, can provide sufficient excitation for participating parts, truly simulates the track and the attitude in the rocket flight, verifies whether the data communication between the flight control computer 16 and each part is normal or not, greatly improves the convenience of debugging and improving control parameters, ensures the high reliability of the rocket control system, and provides powerful support for the successful rocket flight.
In one embodiment, the real-time simulator 12 is configured to receive the rudder deflection angle command and the arithmetic logic control command transmitted by the flight control computer 16, control the three-axis turntable 18 to rotate, and transmit the simulated acceleration information and the simulated GPS information to the navigation computer 14. The simulated acceleration information and the simulated GPS information are obtained through simulation calculation by the real-time simulator 12 according to the operation logic control instruction by utilizing the rudder deflection angle instruction and the received deflection angle.
It can be understood that the real-time simulator 12 has a relatively precise function of sending data at regular time, and the beat error of the sent data can be ignored relative to the whole semi-physical simulation system. Specifically, in the semi-physical simulation test, the flight control computer 16 calculates a rudder deflection command in real time according to the received information of the rocket position, speed, attitude and the like calculated by the navigation computer 14, controls the steering engine 20 to execute corresponding rudder deflection action, transmits the actually measured deflection angle of the steering engine 20 to the real-time simulation machine 12 through the rudder deflection angle command, and transmits the real-time flight information of the rocket to the black box 22 for storage through the flight control computer 16.
The real-time simulator 12 simulates acceleration information, GPS information and rocket attitude information in real time according to the received rudder deflection angle instruction and the deflection angle of the three-axis rotary table 18. The real-time simulator 12 transmits the simulated acceleration information and the simulated GPS information to the navigation computer 14, and transmits the simulated rocket attitude information to the three-axis turntable 18 through a turntable control command, so as to control the three-axis turntable 18 to rotate and simulate the real rocket attitude. The navigation computer 14 calculates the position, speed and attitude of the rocket in real time according to the received simulated acceleration information, simulated GPS information and the measured angular velocity information of the three-axis rotary table 18, and transmits the position, speed and attitude to the flight control computer 16, thereby realizing the closed-loop control effect of the rocket control system.
In one embodiment, the three axis turret 18 is equipped with an angular displacement sensor. The angular displacement sensor is in communication connection with the real-time simulator 12, and is used for measuring the deflection angle of the three-axis rotary table 18 and sending the deflection angle to the real-time simulator 12.
It can be understood that the steering engine 20 and the three-axis turntable 18 are both provided with angular displacement sensors, and the angular displacement sensors of the three-axis turntable 18 can measure the deflection angle of the three-axis turntable 18 and send the deflection angle to the real-time simulator 12. The steering engine 20 is used for changing the flight attitude of the rocket, receives a rudder deflection instruction which is calculated and sent by the flight control computer 16, changes the attitude of the rocket through deflection of a rudder piece on the steering engine 20, and measures the deflection angle of the actual steering engine 20 through an angular displacement sensor on the steering engine 20. The actual deflection angle of the three-axis rotary table 18 is introduced into the calculation of the real-time simulator 12 as feedback, so that the next rotation angle instruction can be calculated by taking the feedback angle as a true value, and the effect of forming closed-loop control is achieved.
In one embodiment, the three-axis turntable 18 is configured to rotate the simulated rocket flight attitude after receiving the attitude control command transmitted by the real-time simulator 12. It can be understood that the attitude control instruction, that is, the attitude information of rocket flight is simulated by the real-time simulator 12 after receiving the corresponding instruction transmitted by the flight control computer 16, and the attitude control instruction output to the three-axis turntable 18 is used for controlling the three-axis turntable 18 to simulate the attitude of rocket flight in the simulation test according to the received attitude information.
In one embodiment, the flight control computer 16 is configured to receive telemetry test instructions sent by the ground station 26 via the telemetry station 24 and return telemetry data to the ground station 26 via the telemetry station 24. The ground station 26 is used to detect the returned telemetry data to determine whether the telemetry station 24 is normal.
It can be understood that the flight control computer 16 is a core control component of rocket flight, and is used for storing an arithmetic logic control instruction, controlling the real-time simulator 12, the black box 22, the steering engine 20 and the telemetry radio station 24 to work, resolving a steering deflection angle instruction, and controlling the steering engine 20 to deflect. The flight control computer 16 receives rocket position, speed and attitude information transmitted by the navigation computer 14, receives flight state information transmitted by the ground station 26 through the remote sensing radio station 24, resolves a rudder deflection angle instruction of the steering engine 20, sends the rudder deflection angle instruction to the steering engine 20 for execution, receives actual deflection angle information measured by the steering engine 20, sends an operation logic control instruction to the real-time simulator 12, the remote sensing radio station 24, the steering engine 20, the black box 22 and the like, and controls the working start time, the working flow and the working termination time of each part in the simulation test.
The flight control computer 16 transmits the received original information, the calculated information and the stored operation logic control instruction to the black box 22 for storage, so as to analyze flight data and adjust the optimization control law. If the rocket breaks down, the problem root can be conveniently positioned, and the fault can be timely eliminated. Specifically, in this embodiment, the ground station 26 sends a telemetry test command to the flight control computer 16 through the telemetry station 24, and the ground station 26 detects data returned by the flight control computer 16 through the telemetry station 24, so as to determine whether the telemetry station 24 is normal.
In one embodiment, the flight control computer 16 is further configured to control the steering engine 20 to deflect and receive a rudder deflection angle measured by the steering engine 20 after receiving a steering engine 20 test command sent by the ground station 26 through the telemetry radio station 24. The flight control computer 16 is also used for returning the rudder deflection angle to the ground station 26 through the telemetry station 24, and the ground station 26 is also used for detecting the returned rudder deflection angle to determine whether the steering engine 20 is normal.
Specifically, in this embodiment, the ground station 26 sends a test instruction to the flight control computer 16 through the telemetry station 24 to control the steering engine 20, the flight control computer 16 controls the steering engine 20 to deflect according to the test instruction of the steering engine 20, and sends back the actually measured deflection angle of the steering engine 20 to the ground station 26 through the telemetry station 24, and the ground station 26 detects data returned by the steering engine 20 to determine whether the steering engine 20 is normal.
In one embodiment, the flight control computer 16 is further configured to receive a rocket erecting instruction sent by the ground station 26 via the telemetry station 24 and forward the rocket erecting instruction to the real-time simulator 12.
Specifically, in this embodiment, the ground station 26 sends a rocket erecting instruction to the flight control computer 16 through the telemetry station 24, the flight control computer 16 sends the received rocket erecting instruction to the real-time simulation machine 12, and the real-time simulation machine 12 controls the three-axis turntable 18 to rotate to a specified attitude angle according to the received erecting instruction, so as to simulate the rocket erecting.
In one embodiment, the flight control computer 16 is further configured to receive a rocket ignition command sent by the ground station 26 through the telemetry station 24, forward the rocket ignition command to the real-time simulator 12, and enter an automatic control mode, and complete closed-loop control of the rocket by respectively linking the navigation computer 14, the steering engine 20, the real-time simulator 12 and the black box 22.
Specifically, in the present embodiment, the ground station 26 sends a rocket firing instruction to the flight control computer 16 through the telemetry station 24, the flight control computer 16 simultaneously sends the received rocket firing instruction to the real-time simulator 12, the flight control computer 16 and the real-time simulator 12 complete time synchronization, and the flight control computer 16 enters the automatic control mode. The flight control computer 16 calculates and transmits rocket position, speed and attitude information according to the received navigation computer 14, calculates a rudder deflection command in real time for controlling the steering engine 20 to execute, feeds back the rudder deflection to the real-time simulator 12, and transmits the real-time flight information of the rocket to the black box 22 for storage.
The real-time simulator 12 simulates acceleration information and GPS information in real time according to the received deflection angle feedback information, such as the deflection angle of the steering engine 20 and the deflection angle of the three-axis rotary table 18, and transmits the acceleration information and the GPS information to the navigation computer 14, and simulates attitude information of a rocket, so that the three-axis rotary table 18 is controlled to rotate, and a real rocket attitude is simulated. The navigation computer 14 calculates the position, speed and attitude information of the rocket in real time according to the received simulated acceleration information, GPS signals and the measured angular velocity information of the three-axis rotary table 18, and transmits the position, speed and attitude information to the flight control computer 16, thereby completing the closed-loop control of the rocket control system.
In one embodiment, the navigation computer 14 is configured to measure angular velocity information of the three-axis turntable 18, receive simulated acceleration information and simulated GPS information transmitted by the real-time simulator 12, and transmit the calculated position information, velocity information and attitude information of the rocket in flight to the flight control computer 16. Wherein the position information, velocity information and attitude information are obtained by the navigation computer 14 by calculation based on the angular velocity information, the simulated acceleration information and the simulated GPS information.
The navigation computer 14 is used to resolve the position, velocity and attitude of the rocket during flight. The navigation receiver of the navigation computer 14 senses the angular velocity information of the three-axis rotary table 18, receives the simulated acceleration information and the simulated GPS information sent by the real-time simulator 12, and performs navigation calculation to obtain data such as the position, the speed and the attitude of the rocket in flight. And transmitting the obtained rocket position, speed, attitude and other data to flight control calculation to carry out corresponding control instruction resolving.
Referring to FIG. 2, in one embodiment, the telemetry stations 24 include a first telemetry station 242 and a second telemetry station 244. The first telemetry station 242 and the second telemetry station 244 are wirelessly connected via an antenna. A first telemetry station 242 is connected to the flight computer 16 by a communications cable and a second telemetry station 244 is connected to the ground station 26 by a communications cable.
It is understood that, in the above embodiment, the number of the telemetry stations 24 may be two or more, for example, one telemetry station may be used for transmitting, and a plurality of telemetry stations may be used for receiving, and one of the telemetry stations 24 may also be used as a backup station to ensure that the backup station takes over when other stations fail, so as to successfully complete the test task, and specifically, the selection may be performed according to the needs of the test scenario. In this embodiment, two telemetry stations 24 are used for networking tests to establish reliable remote communication of the flight control computer 16 with the ground station 26. The two telemetering radio stations 24 are communicated with each other through respective antennas, and high data transmission reliability can be achieved and the comprehensive test cost of the system can be low through networking application of the two telemetering radio stations 24.
In one embodiment, the rocket semi-physical simulation test system 100 further comprises a power supply. The power supply is respectively and electrically connected with the real-time simulator 12, the navigation computer 14, the flight control computer 16, the steering engine 20, the three-axis turntable 18, the black box 22, the ground station 26 and the telemetering radio station 24. It can be understood that, during semi-physical simulation, the real-time simulation machine 12, the navigation computer 14, the flight control computer 16, the steering engine 20, the three-axis turntable 18, the black box 22, the ground station 26 and the telemetry station 24 are all powered by power supplies, the power supplies can be various independent power supplies suitable for powering the aforementioned components in the field or adaptive power supplies accessed from the utility grid, and the number of the power supplies can be one, for example, the total power supply of an integrated adapter, so as to meet the power supply requirements of the components; the power supply can be a plurality of power supplies, for example, each part adopts an independent power supply to supply power, or part of parts share one power supply, and other parts adopt other power supplies to supply power, and can be specifically selected according to the requirements of a test scene.
During actual rocket flight, the flight control computer 16, the navigation computer 14, the steering engine 20, the black box 22, the telemetry radio station 24 and the like are powered by batteries, and the ground station 26 is powered by a power supply. In addition, the ground station 26 has functions of controlling, monitoring, testing, real-time mapping, data encoding and decoding, data acquisition and storage, and the like. The black box 22 can collect digital signals, store raw data and solution data measured by the navigation computer 14, store instruction data and feedback data received by the steering engine 20, store instruction data sent by the ground station 26 through the telemetry station 24, and store various calculation data of the flight control computer 16. The black box 22 has the functions of data extraction, system conversion, drawing, data transmission interaction and the like, and can provide required verification data support capability in a semi-physical simulation test.
In some embodiments, to more clearly illustrate the rocket semi-physical simulation testing system 100, the following schematic description is given by taking the workflow of the semi-physical simulation test as an example, and it will be understood by those skilled in the art that the following schematic description is only illustrative and not the only limitation to the workflow of the rocket semi-physical simulation testing system 100.
The working process is as follows:
(1) all the electric equipment is powered on, and initialization is completed.
(2) The ground station 26 binds a mode selection command to the flight control computer 16 via the telemetry station 24, selects the semi-physical simulation mode, and determines whether the mode selection was successful by detecting the return data.
(3) The ground station 26 sends telemetry test instructions to the flight control computer 16 via the telemetry station 24 and determines whether the telemetry station 24 is normal by detecting the return data.
(4) The ground station 26 gives a test instruction to the flight control computer 16 and the steering engine 20 through the telemetering radio station 24, controls the steering engine 20 to deflect through the flight control computer 16, transmits the deflection angle actually measured by the steering engine 20 to the ground station 26 through the telemetering radio station 24, and detects return data of the steering engine 20 to determine whether the steering engine 20 is normal.
(5) The ground station 26 sends a flight preparation command to the flight control computer 16 via the telemetry station 24 and the flight control computer 16 enters a flight preparation state.
(6) The ground station 26 sends a rocket erecting instruction to the flight control computer 16 through the remote sensing radio station 24, the flight control computer 16 sends the received rocket erecting instruction to the real-time simulation machine 12, and the real-time simulation machine 12 controls the three-axis rotary table 18 to rotate to a specified attitude angle according to the received erecting instruction to simulate the rocket erecting.
(7) The ground station 26 sends a rocket ignition instruction to the flight control computer 16 through the remote sensing radio station 24, the flight control computer 16 simultaneously sends the received rocket ignition instruction to the real-time simulation machine 12, and the flight control computer 16 and the real-time simulation machine 12 complete time synchronization work. The flight control computer 16 enters an automatic control mode, the flight control computer 16 calculates a rudder deflection instruction in real time according to the received information of the rocket position, speed, attitude and the like calculated by the navigation computer 14 to control the steering engine 20 to execute corresponding rudder deflection actions, and feeds back the rudder deflection measured by the steering engine 20 to the real-time simulator 12, and transmits the real-time flight information of the rocket to the black box 22 for storage.
The real-time simulator 12 simulates acceleration information and GPS information in real time according to the received deflection angle feedback information, transmits the acceleration information and the GPS information to the navigation computer 14, simulates rocket attitude information, controls the three-axis rotary table 18 to rotate, and simulates a real rocket attitude. The navigation computer 14 calculates the position, speed and attitude of the rocket in real time according to the received simulated acceleration information and simulated GPS information and the measured angular velocity information of the three-axis rotary table 18, and transmits the position, speed and attitude to the flight control computer 16 to complete the closed-loop control of the rocket control system.
(8) After the parachute opening condition is met, the flight control computer 16 controls the corresponding pin to output a high level, simulates and ignites the explosive bolt, completes the parachute opening task, and recovers the rocket. And connecting a corresponding pin of the flight control computer 16 to a voltmeter, checking whether high-level output exists or not, and determining whether an parachute opening task is finished or not.
(9) When the position information received by the flight control computer 16 meets the set termination condition, the surface rocket reaches the designated position, and other equipment is controlled to stop working.
(10) And analyzing data in the black box 22 and the ground station 26, optimizing the rocket flight and guidance law and control law, completing the rocket semi-physical simulation, and powering off all the electric equipment.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present application, and all of them fall within the scope of the present application. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. A rocket semi-physical simulation test system is characterized by comprising a real-time simulation machine, a navigation computer, a flight control computer, a three-axis turntable, a steering engine, a black box, a remote measuring radio station and a ground station;
the flight control computer is respectively in communication connection with the real-time simulation machine, the navigation computer, the steering engine, the black box and the telemetering radio station, the real-time simulation machine is respectively in communication connection with the navigation computer and the three-axis turntable, the ground station is in communication connection with the telemetering radio station, and the navigation computer is arranged on the three-axis turntable and performs traction movement along with the three-axis turntable;
the real-time simulator is used for controlling the three-axis rotary table to rotate to simulate the flying attitude of the rocket, and the flight control computer is used for respectively linking the real-time simulator, the navigation computer, the steering engine, the black box, the remote measuring radio station and the ground station to carry out a semi-physical simulation test of the rocket control system.
2. A rocket semi-physical simulation test system according to claim 1, wherein the three-axis turntable is provided with an angular displacement sensor, and the angular displacement sensor is in communication connection with the real-time simulator, and is used for measuring the deflection angle of the three-axis turntable and sending the deflection angle to the real-time simulator.
3. A rocket semi-physical simulation test system according to claim 1 or 2, wherein the three-axis turntable is configured to rotate to simulate the rocket flight attitude after receiving the attitude control command transmitted by the real-time simulator.
4. A rocket semi-physical simulation test system according to claim 2, wherein the real-time simulator is configured to control the three-axis turntable to rotate and transmit simulated acceleration information and simulated GPS information to the navigation computer after receiving a rudder deflection angle command and an arithmetic logic control command transmitted by the flight control computer;
and the simulated acceleration information and the simulated GPS information are obtained by the real-time simulator according to the operation logic control instruction, the rudder deflection angle instruction and the received deflection angle through simulation calculation.
5. A rocket semi-physical simulation test system according to claim 1, 2 or 4, wherein said flight control computer is adapted to receive telemetry test instructions sent by said ground station via said telemetry station and to return telemetry data to said ground station via said telemetry station, said ground station being adapted to detect said returned telemetry data to determine whether said telemetry station is normal.
6. A rocket semi-physical simulation test system according to claim 5, wherein the flight control computer is further configured to control the steering engine to deflect and receive a steering deflection angle actually measured by the steering engine after receiving a steering engine test instruction sent by the ground station through the telemetry radio station;
the flight control computer is further used for returning the rudder deflection angle to the ground station through the telemetry radio station, and the ground station is further used for detecting the returned rudder deflection angle to determine whether the steering engine is normal.
7. A rocket semi-physical simulation test system according to claim 5, wherein said flight control computer is further configured to receive a rocket erecting instruction sent by said ground station through said telemetry station, and forward the rocket erecting instruction to said real-time simulator.
8. A rocket semi-physical simulation test system according to claim 5, wherein said flight control computer is further configured to receive a rocket ignition instruction sent by said ground station via said telemetry station, forward the rocket ignition instruction to said real-time simulator and enter an automatic control mode, and respectively link said navigation computer, said steering engine, said real-time simulator and said black box to complete rocket closed-loop control.
9. A rocket semi-physical simulation test system according to claim 1, wherein the navigation computer is configured to measure angular velocity information of the three-axis turntable, receive simulated acceleration information and simulated GPS information sent by the real-time simulator, and send the position information, velocity information and attitude information of the rocket flight obtained by calculation to the flight control computer;
the position information, the speed information and the attitude information are obtained by the navigation computer through calculation according to the angular velocity information, the simulated acceleration information and the simulated GPS information.
10. A rocket semi-physical simulation test system according to claim 1, wherein said telemetry station comprises a first telemetry station and a second telemetry station, said first telemetry station and said second telemetry station are wirelessly connected through an antenna, said first telemetry station is connected to said flight control computer through a communication cable, and said second telemetry station is connected to said ground station through a communication cable.
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| CN113608452A (en) * | 2021-10-09 | 2021-11-05 | 星河动力(北京)空间科技有限公司 | Semi-physical simulation platform for reusing carrier rocket navigation system |
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