CN113377091B - Carrier rocket test launch control system - Google Patents
Carrier rocket test launch control system Download PDFInfo
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- CN113377091B CN113377091B CN202110921928.3A CN202110921928A CN113377091B CN 113377091 B CN113377091 B CN 113377091B CN 202110921928 A CN202110921928 A CN 202110921928A CN 113377091 B CN113377091 B CN 113377091B
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Abstract
The invention provides a launch and control system for a carrier rocket, wherein the system comprises: the system comprises a communication network, a first measurement and control device, a second measurement and control device and a data agent device; the first measurement and control equipment and the data agent equipment are packaged through ZMQ and are connected with the communication network; the data agent equipment is provided with a communication interface matched with the second measurement and control equipment and is connected with the second measurement and control equipment based on the communication interface; and the first measurement and control equipment and the second measurement and control equipment interact based on the communication network. The system provided by the invention does not need to consider the connection relation and the dependency relation between the equipment any more, avoids frequently debugging the test and launch control system, can meet the requirements of different rocket models and different development cycles, improves the data distribution and receiving efficiency of the test and launch control system, and improves the flexibility of the system.
Description
Technical Field
The invention relates to the technical field of aerospace power, in particular to a carrier rocket test, launch and control system.
Background
The carrier rocket test and launch control system is a test system integrating functions of carrier rocket test, launch, data processing, monitoring and the like, and generally comprises equipment for test launch control, front-end test and control, data processing, data storage, real-time monitoring, ground power supply, time sequence test and the like. The devices are connected in an Ethernet or bus mode, and the launch control task of the carrier rocket is completed through interaction and cooperation.
The existing carrier rocket test launch control system has the defects that the connection relation among all devices is complex, the mutual dependence exists, and the data transmission mode and the communication mode are different, so that the test launch control system needs to be continuously adjusted and tested according to the rocket model or the development project, and the stable and reliable communication between the devices and the system can be met. The existing carrier rocket test launch control system has low data distribution and receiving efficiency and poor system flexibility.
Disclosure of Invention
The invention provides a carrier rocket test, launch and control system, which is used for solving the technical problems that the carrier rocket test, launch and control system in the prior art is low in data distribution and receiving efficiency and poor in system flexibility.
The invention provides a carrier rocket test launch control system, which comprises a communication network, a first test control device, a second test control device and a data agent device, wherein the first test control device is connected with the first test control device;
the first measurement and control equipment and the data agent equipment are packaged through ZMQ and are connected with the communication network;
the data agent equipment is provided with a communication interface matched with the second measurement and control equipment and is connected with the second measurement and control equipment based on the communication interface;
and the first measurement and control equipment and the second measurement and control equipment interact based on the communication network.
According to the launch control system for the carrier rocket, the first measurement and control equipment is packaged based on the following steps:
determining the type of an operating system running in the first measurement and control equipment and the type of a supported programming language;
determining ZMQ library corresponding to the first measurement and control equipment based on the operating system type and the programming language type;
and packaging the first measurement and control equipment based on the ZMQ library and the operation program of the first measurement and control equipment.
According to the launch control system for testing and launching a carrier rocket, provided by the invention, the packaging of the first measurement and control equipment comprises the following steps:
if the first measurement and control equipment is used for receiving and sending control instructions, packaging the first measurement and control equipment by adopting a request response mode in an ZMQ communication mode;
and/or if the first measurement and control equipment is used for receiving and publishing the measurement data, packaging the first measurement and control equipment by adopting a publishing and subscribing mode in an ZMQ communication mode.
According to the launch vehicle test launch control system provided by the invention, the data agent equipment is packaged based on the following steps:
determining the operating system type and the programming language type used by the data agent equipment based on the data transmission quantity of the second measurement and control equipment and the data operation quantity of the data agent equipment;
determining an ZMQ library corresponding to the data agent device and a data agent program for data transmission between the data agent device and the second measurement and control device based on the operating system type and the programming language type;
and packaging the data agent equipment based on the ZMQ library and the data agent program.
According to the launch vehicle test launch control system provided by the invention, the data agent equipment is packaged, and the launch vehicle test launch control system comprises:
if the second measurement and control equipment is used for receiving and sending control instructions, packaging the data proxy equipment by adopting a request response mode in an ZMQ communication mode;
and/or if the second measurement and control equipment is used for receiving and publishing the measurement data, packaging the data proxy equipment by adopting a publishing and subscribing mode in an ZMQ communication mode.
According to the launch control system for the carrier rocket, provided by the invention, the data information between the first measurement and control equipment and the second measurement and control equipment is determined based on a preset frame format.
According to the launch vehicle test launch control system provided by the invention, the message header in the frame format comprises the sending equipment code, the receiving equipment code, the length of the data information, the type of the data information, the sending time of the data information, the sending frame number of the sending equipment and the data check information of the data information.
According to the carrier rocket test, launch and control system provided by the invention, the first test and control equipment comprises front-end test and control equipment, data storage equipment, test, launch and control equipment and real-time monitoring equipment;
the second measurement and control equipment comprises time sequence test equipment, power supply equipment, a remote measurement ground station and an external safety comprehensive tester;
the data agent equipment comprises time sequence data agent equipment, power supply data agent equipment, telemetering data processing equipment and external security data agent equipment.
According to the carrier rocket test launch control system provided by the invention, the communication network is constructed based on the Ethernet.
The launch vehicle test launch control system provided by the invention further comprises a first network switch and a second network switch which are connected with each other;
the first network switch is respectively connected with the time sequence data agent equipment, the front end measurement and control equipment and the power supply data agent equipment;
and the second network switch is respectively connected with the telemetry data processing equipment, the external security data proxy equipment, the data storage equipment, the measurement, emission and control equipment and the real-time monitoring equipment.
According to the carrier rocket test launch control system provided by the invention, the first measurement and control equipment and the data agent equipment are packaged through ZMQ and are connected with the communication network, the data agent equipment is provided with the communication interface matched with the second measurement and control equipment and is connected with the second measurement and control equipment based on the communication interface, so that the second measurement and control equipment interacts with the first measurement and control equipment through the data agent equipment connected with the second measurement and control equipment in the communication network in a communication mode of ZMQ, the connection relation and the dependency relation between the equipment and the equipment do not need to be considered, frequent debugging of the test launch control system is avoided, the requirements of different rocket models and different development cycles can be met, the data distribution and receiving efficiency of the test launch control system is improved, and the flexibility of the system is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a launch vehicle test and launch control system according to one embodiment of the present invention;
fig. 2 is a second schematic structural view of a launch vehicle test launch control system provided by the invention.
Reference numerals:
100: a carrier rocket test launch control system; 110: a first measurement and control device; 120: a second measurement and control device; 130: a data proxy device; 140: a communications network.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The difference of the model of the carrier rocket and the difference of the test items to be completed in different development stages of the carrier rocket lead the ground test and launch control system to be customized according to the model of the rocket or the development stages, therefore, the connection and the dependency relationship among the devices in the test and launch control system cannot be completely cured, and continuous adjustment and debugging are needed to meet the requirements of different development cycles of different rocket models, the use efficiency is low, the flexibility of the system is poor, and the communication effect is poor.
In view of the deficiency of the prior art, fig. 1 is a schematic structural diagram of a launch vehicle measurement and launch control system provided by the present invention, and as shown in fig. 1, a launch vehicle measurement and launch control system 100 includes a communication network 140, a first measurement and control device 110, a second measurement and control device 120, and a data agent device 130;
the first measurement and control device 110 and the data proxy device 130 are packaged through ZMQ and are connected with the communication network 140; the data agent device 130 is provided with a communication interface matched with the second measurement and control device 120, and is connected with the second measurement and control device 120 based on the communication interface; the first measurement and control device 110 and the second measurement and control device 120 interact with each other based on a communication network 140.
Specifically, the zmq (zeromq) is a message queue-based multithreaded network library, realizes a parallel development framework in the form of an embedded network programming library, can provide message channels in an in-process (inproc), an inter-process (IPC), a network (TCP) and a broadcast manner, and supports communication modes such as fanout (fan-out), publish-subscribe (pub-sub), task distribution (task distribution), request-response (request-reply) and the like. Compared with the common socket interface which can only realize end-to-end (1: 1) communication, ZMQ can realize the communication between points (N: M), and the points can be hosts or processes.
The first measurement and control device 110 is a device that can be packaged in ZMQ. For example, the operating environment of the first measurement and control device 110 is a general-purpose operating system such as Windows or Linux, supports modification of its own operating program, and has an ethernet communication interface.
The second measurement and control device 120 is a device that cannot be packaged in ZMQ. For example, the operating environment of the second instrumentation device 120 is a non-general-purpose operating system, or does not support modifying its own operating program, or does not have an ethernet communication interface.
The first measurement and control device 110 and the second measurement and control device 120 are both testing devices or control devices in the launch vehicle measurement and launch control system 100. When the launch vehicle test launch control system 100 operates, the first measurement and control device 110 and the second measurement and control device 120 interact with each other through the launch vehicle test, launch, orbit control and other processes. A communication network 140 may be provided for transmitting data information exchanged between the first measurement and control device 110 and the second measurement and control device 120. The data information includes control commands and/or measurement data.
The first measurement and control device 110 may be packaged via ZMQ and then directly connected to the communication network 140. The second instrumentation device 120, which cannot be encapsulated by ZMQ, can be implemented by means of the data proxy device 130. The data proxy device 130 is encapsulated by ZMQ and then directly connected to the communication network 140. Meanwhile, the data agent device 130 is provided with a communication interface matched with the second measurement and control device 120. The second instrumentation device 120 is connected to the data proxy device 130 via a communication interface. The control command or the measurement data received and transmitted by the second measurement and control device 120 may be transmitted to the communication network 140 through the data proxy device 130. Therefore, the interaction between the first measurement and control device 110 and the second measurement and control device 120 based on the communication network can be realized.
Because ZMQ is used for communication, connection, destruction connection, protocol selection, processing error and the like do not need to be established between devices, the connection state between the devices does not need to be managed, the device can be elastically stretched among a plurality of threads, kernels and a host box, and network communication programming is simplified.
In the embodiment of the present invention, the number of the first measurement and control device 110, the second measurement and control device 120, and the data agent device 130 is not specifically limited.
According to the carrier rocket test launch and control system provided by the embodiment of the invention, the first measurement and control equipment and the data agent equipment are packaged through ZMQ and are connected with the communication network, the data agent equipment is provided with the communication interface matched with the second measurement and control equipment and is connected with the second measurement and control equipment based on the communication interface, so that the second measurement and control equipment interacts with the first measurement and control equipment through the data agent equipment connected with the second measurement and control equipment in the communication network in a communication mode of ZMQ, the connection relation and the dependency relation between the equipment and the equipment do not need to be considered, frequent debugging of the test launch and control system is avoided, the requirements of different rocket models and different development cycles can be met, the data distribution and receiving efficiency of the test launch and control system is improved, and the flexibility of the system is improved.
Based on the above embodiment, the first measurement and control device is packaged based on the following steps:
determining the type of an operating system running in the first measurement and control equipment and the type of a supported programming language;
determining an ZMQ library corresponding to the first measurement and control equipment based on the operating system type and the programming language type;
and packaging the first measurement and control equipment based on the ZMQ library and the operation program of the first measurement and control equipment.
Specifically, ZMQ supports multiple programming languages such as java, Python, C + +, or C #, and requires downloading of corresponding versions of ZMQ libraries for different operating systems and the programming languages used.
When the first measurement and control equipment is packaged, firstly, an ZMQ library corresponding to the first measurement and control equipment is determined according to the type of an operating system running in the first measurement and control equipment and the type of a supported programming language. And then, according to an ZMQ library corresponding to the first measurement and control equipment, introducing the header file and the library file into an operation program of the first measurement and control equipment, and compiling to complete the introduction of the ZMQ library. And then compiling ZMQ a communication interface between the library and the running program to realize data transmission through ZMQ.
Based on any one of the above embodiments, encapsulating the first measurement and control device includes:
if the first measurement and control equipment is used for receiving and sending the control command, packaging the first measurement and control equipment by adopting a request response mode in an ZMQ communication mode;
and/or if the first measurement and control equipment is used for receiving and publishing the measurement data, packaging the first measurement and control equipment by adopting a publishing and subscribing mode in an ZMQ communication mode.
Specifically, when the first measurement and control device is packaged, a specific packaged communication mode should be determined according to the data transmission characteristics of the first measurement and control device.
ZMQ the communication mode includes Request-response (Request-Reply) mode and Publish-Subscribe (Publish-Subscribe) mode. The request response mode is applied to a communication scene comprising a request end and a service end. The publish-subscribe mode is applied to a communication scenario in which a single node provides information to multiple nodes.
If the first measurement and control device is used for receiving the control instruction sent by other devices and sending the control instruction to other devices or sending data information related to the control instruction, the first measurement and control device can be packaged by adopting a request response mode in an ZMQ communication mode; if the first measurement and control equipment is used for receiving the measurement data issued by other equipment and issuing the measurement data to other equipment, packaging the first measurement and control equipment by adopting an issuing and subscribing mode in an ZMQ communication mode; if the first measurement and control device needs to receive and send control instructions and also needs to receive and issue measurement data, two ZMQ communication modes can be adopted for packaging.
For example, encapsulation using the request response mode of ZMQ requires first determining the sender and receiver of the instruction. A Request (Request) mode of ZMQ is implemented at the instruction sender and a response (Reply) mode of ZMQ is implemented at the instruction receiver. Packaging using the publish-subscribe schema of ZMQ requires first determining the publishers and recipients of the data. The publication (Publish) model of ZMQ is implemented on the data publisher and the subscription (Subscribe) model of ZMQ is implemented on the data receiver.
Based on any of the above embodiments, the data proxy device is encapsulated based on the following steps:
determining the type of an operating system and the type of a programming language used by the data agent equipment based on the data transmission quantity of the second measurement and control equipment and the data operation quantity of the data agent equipment;
determining an ZMQ library corresponding to the data agent equipment and a data agent program for data transmission between the data agent equipment and the second measurement and control equipment based on the operating system type and the programming language type;
and packaging the data proxy equipment based on ZMQ library and data proxy program.
Specifically, the data agent device is used for enabling the second measurement and control device to perform data interaction with the first measurement and control device through ZMQ. Therefore, when encapsulating the data proxy device, the data requirement of the second measurement and control device should be considered.
According to the data transmission quantity of the second measurement and control equipment and the data operation quantity of the data proxy equipment, the operating system type and the programming language type of the data proxy equipment are determined, an ZMQ library corresponding to the data proxy equipment is further determined, a data proxy program between the data proxy equipment and the second measurement and control equipment is written, then a ZMQ library corresponding to the data proxy equipment is introduced into the data proxy program, and data transmission through ZMQ is achieved.
For example, for a certain target device, a corresponding proxy device may be determined according to an external interface of the target device. The proxy device needs to satisfy: an interface matched with the target equipment is provided to realize interconnection and intercommunication with the target equipment, and meanwhile, an Ethernet interface is required to be provided to realize data transmission based on ZMQ.
Firstly, the device configuration and the operating system and programming language used are selected according to the operation and data transmission quantity carried by the agent device. And secondly, writing an agent program to realize data transmission between the agent equipment and the target equipment. Again, the ZMQ library corresponding to the operating system and programming language is downloaded and the ZMQ header and library files are imported into the agent program project. Finally, a communication interface between the library and the agent program is written ZMQ, and data transmission based on ZMQ is realized.
Based on any of the above embodiments, encapsulating the data proxy device includes:
if the second measurement and control equipment is used for receiving and sending the control instruction, packaging the data proxy equipment by adopting a request response mode in the ZMQ communication mode;
and/or if the second measurement and control equipment is used for receiving and publishing the measurement data, packaging the data proxy equipment by adopting a publish-subscribe mode in an ZMQ communication mode.
Specifically, if the second measurement and control device is configured to receive a control instruction sent by another device, and send the control instruction to the other device or send data information related to the control instruction, the data proxy device may be encapsulated in a request response mode in the ZMQ communication mode; if the second measurement and control equipment is used for receiving the measurement data issued by other equipment and issuing the measurement data to other equipment, packaging the data proxy equipment by adopting an issuing and subscribing mode in an ZMQ communication mode; if the second measurement and control device needs to receive and send the control command and also needs to receive and issue the measurement data, two ZMQ communication modes can be adopted to encapsulate the data proxy device.
Based on any of the above embodiments, the data information between the first measurement and control device and the second measurement and control device is determined based on a preset frame format.
Specifically, a preset frame format may be adopted to transmit and process all data information interacted between the first measurement and control device and the second measurement and control device after framing, so as to improve transmission efficiency and processing efficiency of the data information.
Based on any of the above embodiments, the header in the frame format includes the sending device code, the receiving device code, the length of the data information, the type of the data information, the sending time of the data information, the number of sending frames of the sending device, and the data check information.
Specifically, in the measurement and launch control system, each time a control instruction or measurement data is launched, the data is framed using a uniform frame format, that is, a fixed format header is defined in front of the data.
The header contains header information, typically identified by a fixed length specific value, indicating the start of a frame, e.g., the header is two bytes 0x55 AA.
According to the transmission and reception relationship, a transmission device code (source code) and a reception device code (sink code) are specified in the header of the message, indicating the devices that transmit and receive the frame, respectively.
Specific codes can be defined for each device of the test and launch control system, the codes are unique codes of the devices, the devices with the same function also need to be defined into different device codes, but for identification convenience, the device codes with the same or similar functions can be in the same code interval.
The message header contains the length of the data information and is used for indicating that the data of the frame does not contain the data length of the message header.
The message header contains the type of data information, and the type comprises: control commands, measurement data, etc.
The message header contains the sending time of the data information, namely the information of year, month, day, hour, minute and second, and is used for recording the sending time of the data of the frame.
The message header contains the number of the sending frames of the sending equipment and is used for storing the frame count sent by the current equipment after being electrified.
The message header contains data check information, and the check calculation can be performed on the whole data frame (except the check information field) by using methods such as sum check, exclusive-or check, CRC check and the like.
The header is followed by a data field, which may be a control command, a control return command, measurement data, etc.
Each time the measurement and launch control system receives a control instruction or measurement data, the measurement and launch control system needs to perform subsequent processing after deframing according to the uniform frame format.
Because a data receiver may receive a plurality of messages at a time, firstly, a message header needs to be inquired and the frame length needs to be calculated, and the received data is decomposed into a plurality of messages; according to the calculation check information of each message, if the check information is incorrect, the message is abandoned; then, according to the validity of judging the data type, information source and information sink information, if the information is illegal, the message is discarded; and after the judgment is correct, analyzing the data according to a predefined data processing program, and executing subsequent operation.
Based on any embodiment, the first measurement and control equipment comprises front-end measurement and control equipment, data storage equipment, measurement, transmission and control equipment and real-time monitoring equipment; the second measurement and control equipment comprises time sequence test equipment, power supply equipment, a remote measurement ground station and an external safety comprehensive tester; the data agent equipment comprises time sequence data agent equipment, power data agent equipment, telemetering data processing equipment and external security data agent equipment.
According to any of the above embodiments, the communication network is constructed based on ethernet.
Specifically, all devices in the test launch control system are interconnected through the Ethernet, and interconnection can be realized through devices such as a switch, a network cable and an optical fiber.
Device transmission media and device network hardware (e.g., network cards) must meet the data transmission rate requirements of the individual devices, for example: in order to satisfy the transmission of large data volume, network switches, network cards and the like need to support network transmission of giga and above. And each device completes data transmission through a predefined instruction stream and a predefined data stream and executes a test, launch and control task.
Based on any one of the above embodiments, the system further comprises a first network switch and a second network switch which are connected with each other;
the first network switch is respectively connected with the time sequence data agent equipment, the front end measurement and control equipment and the power supply data agent equipment;
and the second network switch is respectively connected with the telemetering data processing equipment, the external security data agent equipment, the data storage equipment, the measuring, transmitting and controlling equipment and the real-time monitoring equipment.
Specifically, because the spatial layout of each device in the test launch control system is related to the actual test scene, two network switches can be set to establish a communication network according to the distance between each device and the carrier rocket.
The time sequence data agent device, the front end measurement and control device and the power supply data agent device are close to the carrier rocket, and can access the communication network through the first network switch.
The remote measurement data processing equipment, the external security data agent equipment, the data storage equipment, the measurement, launch and control equipment and the real-time monitoring equipment are far away from the carrier rocket and can access the communication network through the second network switch.
Based on any of the above embodiments, specifically, fig. 2 is a second schematic structural view of a launch vehicle test and launch control system provided by the present invention, as shown in fig. 2, the system includes:
e01 timing test equipment: the method comprises the steps that an on-rocket time sequence starting signal is collected by connecting with an on-rocket time sequence starting interface of a carrier rocket;
e03 front-end measurement and control equipment: the main function is to connect with the carrier rocket system through buses such as 1553B, CAN and the like, so as to realize the functions of sending instructions, receiving feedback and collecting the state information on the rocket;
e04 instrument power supply, E05 servo power supply: in the test process before launch of the carrier rocket, each single machine system and the servo system on the rocket generally realize power supply through ground equipment, and power supply is realized through two power supplies of E04 and E05 according to different requirements of the single machine and the servo system on the rocket on power supply voltage, power and the like;
e08 telemetry ground station: receiving a remote measuring signal of the carrier rocket through an antenna and decoding the remote measuring signal into a remote measuring data PCM code stream;
e09 telemetry data processing device: the system is used for receiving a PCM code stream sent by an E08 telemetering ground station and analyzing the data into parameter data which can be interpreted manually;
e10 external safety comprehensive tester: the external test safety control comprehensive test equipment is used for being connected with the rocket safety control equipment through an antenna, sending a safety control instruction and acquiring information such as the state of the safety control equipment;
e13 data storage device: the device is used for storing test data returned by devices such as E01, E03, E04, E08, E09 and E10.
E14 measurement and control device: the system is used for providing a human-computer interaction interface to realize manual input of a test and issue control instruction and manual interpretation of partial parameter information;
e15 real-time monitoring device: a UI (User Interface) for providing each rocket professional with real-time interpretation data.
The data transmission of all relevant devices in the test and launch control system is packaged based on ZMQ, and the specific packaging process is as follows:
firstly, selecting a packaging mode according to the characteristics of each device, specifically as follows:
for the equipment developed by a third party or the purchased products or the equipment which cannot be migrated into the ZMQ library, data proxy equipment needs to be constructed; devices such as E01, E04, E05, E08, E10, etc., need to build data proxy devices;
for the equipment operating platform which is a universal operating system such as Linux, Windows and the like, C + + is adopted as a development language, corresponding library files of ZMQ are downloaded, and then a ZMQ data transmission module is directly added to the codes;
secondly, setting codes, IP addresses and ports of each device for ZMQ communication according to the position and the characteristics of each device of the test, launch and control system;
and finally, according to the characteristics of data acquisition and transmission and instruction receiving and transmitting of each device, selecting a publish-subscribe mode or a request-response mode for packaging, or adopting a mixed mode for packaging.
Next, the IP and ZMQ modes of each device are planned according to the data transmission mode of each device, as shown in table 1.
1. Packaging the E01 timing test equipment:
since the timing test device is a third-party development device, a data agent device needs to be constructed. The time sequence test equipment is connected with the arrow by a cable, the collected time sequence data is provided to other equipment for receiving in a serial port mode, and the packaging process is as follows:
the constructed E02 time sequence data proxy equipment adopts a computer comprising a 64-channel serial port board card, and the computer is connected with a time sequence tester through the serial port board card;
and compiling a serial port data acquisition module. Acquiring result information of the time sequence tester according to the frame format of the time sequence test data and the serial port communication parameter configuration;
the communication module is compiled ZMQ, and the acquired timing sequence information is issued to the network through the port 11001 by adopting an issuing mode.
2. Packaging E03 front-end measurement and control equipment:
the front-end measurement and control equipment is connected with the arrow through an arrow-ground cable, and the arrow-ground cable generally comprises an arrow-ground bus (1553B, CAN, RS422 and the like), an input-output signal wire, a voltage and current acquisition cable, a power distribution cable and the like. The packaging process comprises the following steps:
the front-end measurement and control equipment develops measurement and control software to realize the driving of the buses, the input interfaces, the output interfaces and the like;
the response mode of ZMQ is realized, a measurement and control instruction sent by E14 measurement and control equipment is received through a 12002 port, the instruction is executed or sent to a carrier rocket through a bus, and then the instruction is returned;
the distribution mode of ZMQ is realized, and data such as voltage, current, ground measurement and the like are collected from arrows and are distributed to the network through a 12001 port.
3. Packaging an E04 instrument power supply and an E05 servo power supply:
because the power provides the MODBUS agreement interface, the encapsulation process is:
e06 power supply data proxy equipment is constructed, and a desktop computer comprising two network interfaces is adopted; one of the network interfaces is connected with a power supply, and the other network interface is connected with a test, launch and control system;
packaging an analysis and sending module of an MODBUS protocol, realizing communication with power equipment, and realizing control and state data acquisition of the power equipment;
ZMQ response mode is realized, power supply control instructions sent by E14 test and transmission control equipment are received through a 13002 port, the operations of controlling power supply output, regulating voltage and the like are realized, and then a command is returned;
the issuing mode of ZMQ is realized, and the power data agent module realizes the collection of data such as power voltage, current and the like through a real-time collection thread, and then issues the data to the network through a 13001 port.
4. Packaging the E08 telemetry ground station:
the telemetering ground station has telemetering signal receiving and processing functions, receives rocket-borne equipment modulation signals, performs data processing such as demodulation and synchronization on the rocket-borne equipment modulation signals to generate PCM data streams, sends the data streams to a network in a UDP multicast mode, and has the following packaging process:
constructing E09 data processing equipment, and adopting a server comprising two network interfaces; one of the network interfaces is connected with the telemetering ground station, and the other network interface is connected with the measuring, launching and controlling system;
compiling a structure of the multicast receiving module for realizing the telemetering data, compiling a data analysis and calculation module, and realizing the analysis of each parameter of the telemetering data;
the response mode of ZMQ is realized, a telemetering processing control instruction sent by E14 telemetering control equipment is received through a port 14002, the operations of starting and stopping telemetering data and the like are realized, and then the command is returned;
the distribution mode of ZMQ is realized, and each analyzed parameter data is distributed to the network through the port 14001.
5. Packaging the E10 external safety comprehensive tester:
the outer safety comprehensive tester is debugging and testing equipment for safety control equipment on an outer field test arrow, and the equipment is connected with the safety control equipment on the arrow through a transmitting device. The test instruction can be received and sent to the tested device through UDP, and then the state of the rocket safety control device is sent to the network in a UDP packet mode in real time. The packaging process comprises the following steps:
e11 external security data proxy equipment is constructed, and a server comprising two network interfaces is adopted; one network interface is connected with the external safety comprehensive tester, and the other network interface is connected with the test, launch and control system;
and compiling a UDP receiving and sending module, so as to realize the escape of the test and send control instruction into a UDP execution format of the external safety comprehensive tester, and receive the real-time state information of the safety control equipment on the arrow sent by the external safety comprehensive tester.
The response mode of ZMQ is realized, an external safety test control command sent by the E14 test, transmission and control equipment is received through the 15002 port, the command is forwarded to the external safety comprehensive tester, and then the command is returned;
the distribution mode of ZMQ is realized, and the real-time state information of the rocket security control equipment is distributed to the network through the 15001 port.
6. Packaging E13 data storage devices and E15 real-time monitoring devices:
the two devices respectively realize the storage or real-time display of data, so that only data needs to be acquired from a network, and a control instruction does not need to be responded. The packaging process comprises the following steps:
the data storage or real-time display interface is realized, and the file writing of the data or the display of a graphical user interface is supported;
the subscription mode of ZMQ is realized, test or status data is received from ports such as 11001, 12001, 13001, 14001, 15001 and the like, and the storage or display function is realized.
7. Packaging the E14 measurement, emission and control equipment:
the test, launch and control equipment is to realize the functions of sending test, launch and control instructions, collecting and interpreting key data and the like. The packaging process comprises the following steps:
and a graphical user interface is realized, the input of a user is accepted, and the sending of the test sending control instruction is realized. And receiving various test and state data, and displaying the data on a graphical user interface in real time.
The ZMQ request mode is realized, and the test and transmission control command can be respectively sent to E03 front-end measurement and control equipment, E06 power supply data proxy equipment, E09 telemetering data processing equipment, E11 external security data proxy equipment and the like, and a command is received;
ZMQ, test or status data is received from ports 11001, 12001, 13001, 14001, 15001, etc., and then displayed on the graphical user interface.
And finally, establishing network connection among the devices of the test, launch and control system.
The spatial layout of each device of the test launch control system is related to an actual test scene, generally, E01-E06 is connected with a carrier rocket, so that the distance from the carrier rocket is short, and E02, E03 and E06 can be connected with an E07 network switch through network cables to realize interconnection;
E08-E11 and E13-E15 are generally far away from the carrier rocket and near to test launch control personnel, and the E12 network switches can be connected through network cables to realize interconnection;
the E07 and the E12 can be interconnected through network cables or optical fibers.
And starting up each device and running each device software, wherein the starting up and the software running are not depended on in any sequence. After all the devices and software are started, connection can be established through ZMQ, and then instructions or data are sent and received through a specified frame format, so that various testing, sending and controlling tasks can be executed.
The carrier rocket test launch and control system provided by the embodiment of the invention has the following advantages:
(1) the network communication method adopts a loose coupling mode, so that the test, launch and control system can be conveniently cut in the process of deployment, and the test, launch and control system can be conveniently and quickly built in each stage from unit test to system joint test, so that the dependence between devices is reduced;
(2) ZMQ-based data sending and transmission, data transmission efficiency and data transmission stability are improved from a transmission layer, and especially for a large data volume data distribution scene, ZMQ data distribution mechanism effectively improves data distribution and receiving efficiency;
(3) when part of equipment in the test, launch and control system needs to be changed, only data agent equipment software or related equipment codes need to be changed, and other equipment configurations in the test, launch and control network do not need to be changed, so that the universality and the expandability of the test, launch and control system are improved;
(4) ZMQ, network communication, message queue, thread scheduling and other functions are packaged, and the research personnel of the test and launch control system only need to relate to the data communication protocol of the application layer and do not need to relate to the network communication details, thereby improving the code reusability and the code readability and simultaneously improving the development efficiency.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A carrier rocket test launch control system is characterized by comprising a communication network, a first test control device, a second test control device and a data agent device;
the first measurement and control equipment and the data agent equipment are packaged through ZMQ and are connected with the communication network;
the data agent equipment is provided with a communication interface matched with the second measurement and control equipment and is connected with the second measurement and control equipment based on the communication interface;
the first measurement and control equipment and the second measurement and control equipment interact based on the communication network;
the data agent device is encapsulated based on the following steps:
determining the operating system type and the programming language type used by the data agent equipment based on the data transmission quantity of the second measurement and control equipment and the data operation quantity of the data agent equipment;
determining an ZMQ library corresponding to the data agent device and a data agent program for data transmission between the data agent device and the second measurement and control device based on the operating system type and the programming language type;
and packaging the data agent equipment based on the ZMQ library and the data agent program.
2. The launch vehicle test and launch control system of claim 1 wherein said first test and control device is packaged based on the steps of:
determining the type of an operating system running in the first measurement and control equipment and the type of a supported programming language;
determining ZMQ library corresponding to the first measurement and control equipment based on the operating system type and the programming language type;
and packaging the first measurement and control equipment based on the ZMQ library and the operation program of the first measurement and control equipment.
3. The launch vehicle test and launch control system of claim 2 wherein said encapsulating said first test and control device comprises:
if the first measurement and control equipment is used for receiving and sending control instructions, packaging the first measurement and control equipment by adopting a request response mode in an ZMQ communication mode;
and/or if the first measurement and control equipment is used for receiving and publishing the measurement data, packaging the first measurement and control equipment by adopting a publishing and subscribing mode in an ZMQ communication mode.
4. The launch vehicle test and launch control system of claim 1 wherein said encapsulating said data agent device comprises:
if the second measurement and control equipment is used for receiving and sending control instructions, packaging the data proxy equipment by adopting a request response mode in an ZMQ communication mode;
and/or if the second measurement and control equipment is used for receiving and publishing the measurement data, packaging the data proxy equipment by adopting a publishing and subscribing mode in an ZMQ communication mode.
5. The launch vehicle test and launch control system of any of claims 1 to 4 wherein data information between said first test and control device and said second test and control device is determined based on a predetermined frame format.
6. The launch vehicle test and launch control system of claim 5 wherein the headers in the frame format include a sender encoding, a receiver encoding, a length of the data message, a type of the data message, a sending time of the data message, a number of frames sent by the sender, and data verification information for the data message.
7. The launch vehicle test and launch control system according to any of claims 1 to 4 wherein said first test and control device comprises a front end test and control device, a data storage device, a test and launch control device, a real time monitoring device;
the second measurement and control equipment comprises time sequence test equipment, power supply equipment, a remote measurement ground station and an external safety comprehensive tester;
the data agent equipment comprises time sequence data agent equipment, power supply data agent equipment, telemetering data processing equipment and external security data agent equipment.
8. The launch vehicle test and launch control system of claim 7 wherein said communications network is constructed based on ethernet.
9. The launch vehicle test and launch control system of claim 8 further comprising a first network switch and a second network switch interconnected;
the first network switch is respectively connected with the time sequence data agent equipment, the front end measurement and control equipment and the power supply data agent equipment;
and the second network switch is respectively connected with the telemetry data processing equipment, the external security data proxy equipment, the data storage equipment, the measurement, emission and control equipment and the real-time monitoring equipment.
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| CN115913983B (en) * | 2022-12-20 | 2023-05-23 | 东方空间技术(北京)有限公司 | Construction method and device of ground measurement and control network topology structure of carrier rocket |
| CN115801556B (en) * | 2023-01-29 | 2023-07-21 | 东方空间技术(北京)有限公司 | Data communication method, device, system and equipment |
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| CN109756559B (en) * | 2018-12-07 | 2021-04-30 | 中国航空工业集团公司西安航空计算技术研究所 | Construction and use method for distributed data distribution service of embedded airborne system |
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