CN113777956A - Decision support super real-time computing system and method - Google Patents
Decision support super real-time computing system and method Download PDFInfo
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Abstract
The invention provides a decision support super real-time computing system and a method thereof, comprising the following steps: the system comprises a task planning module and a super real-time simulation module, wherein the task planning module generates a satellite orbit transfer and adjustment strategy according to requirements, and the super real-time simulation module carries out super real-time rapid simulation verification on the generated strategy. By using the method, the super real-time simulation calculation of the task planning process 1:1000 and the super real-time simulation calculation of the satellite full-digital model 1:32 can be realized, and the simulation efficiency is effectively improved. The invention effectively solves the problem of fast planning simulation system under the full digital model, and can ensure that the task planning process is calculated by 1:1000 super real-time simulation, and the satellite full digital model simulation is calculated by 1:32 super real-time simulation; the task planning module provided by the invention can generate a corresponding track transfer and adjustment strategy according to the input of a user, can use a high-precision/low-precision model for calculation, and has stronger engineering applicability.
Description
Technical Field
The invention relates to the technical field of satellite digital simulation, in particular to a decision support super real-time computing system and method, and particularly relates to a decision support super real-time rapid computing method.
Background
The simulation system is an important means for finding problems, and the problems can be quickly and effectively positioned by establishing a full-digital or semi-digital model for a simulation object to simulate the operation process of actual equipment. According to the different occupation ratios of digital models in the system, simulation systems can be divided into full-digital simulation, semi-physical simulation and full-physical simulation. The mathematical model of the object is established through full-digital simulation, so that the cost is low and the realization is easy; semi-physical and full-physical simulation needs to be connected with real equipment, and the method has the advantages of more effectively simulating real operation conditions and more accurately finding problems. And (3) establishing a super real-time simulation system, and considering whether the performance of the equipment can accept super real-time if the equipment is accessed to the real equipment. Because the simulation of the aerospace system takes a long time, if the real-time simulation is used completely, the time cost is greatly increased.
Patent document No. CN103166219B discloses a power grid online stability decision control system and control method based on super real-time simulation. The control system comprises a data processing module, a decision making system and an on-line stability decision system, wherein the data processing module is arranged in a dispatching center and used for acquiring power grid state information and sending power grid operation data to the on-line stability decision making system; the online stability decision system is arranged in the dispatching center and issues a stability control strategy and global power grid information to the stability control device; the stability control device is installed on site in a transformer substation or a power plant; the data conversion and communication interface is connected between the online decision-stabilizing system and the stability control device and inside the stability control device, and is used for data communication between the online decision-stabilizing system and the stability control device and inside the stability control device.
In patent document No. CN103699015B, a real-time super real-time seamless connection ground rapid simulation test method is disclosed, which utilizes dSPACE system simulation equipment to simultaneously operate a real-time simulation test system and a super real-time simulation test system, and performs real-time simulation and super real-time simulation seamless switching on key links and non-key links in the satellite flight process according to the actual test situation, so as to complete the flight control simulation in a short time and for an on-orbit long time.
The patent document with the publication number of CN106940533B discloses a cloud-based super real-time simulation platform and hardware-in-loop real-time decision method, which relates to the field of industrial automation control system software methods and comprises the steps of reading an input value, writing the input value into a first controller and a second controller, respectively executing logic operation by the first controller and the second controller to obtain a first output variable value and a second output variable value, comparing the second output variable value with a fault tree, if a fault is judged to exist, forcibly writing a third output variable value into the first controller and entering the next step, and if no fault is judged to exist, directly entering the next step; and judging whether the first output variable value is the same as the second output variable value or whether the third output variable value is the same as the second output variable value, returning to the initial step if the first output variable value is the same as the second output variable value, and assigning the second output variable value to be the first output variable value or the third output variable value according to different conditions and returning to the initial step if the second output variable value is different from the first output variable value.
Patent document No. CN111190356A discloses a simulation decision support system, a simulation decision support method, and an implementation method of the simulation decision support system, and this patent includes designing a component module of the system and a use mode of software. The simulation decision support system includes: the simulation decision support general control and data management module, the track position keeping and forecasting module, the anti-collision early warning simulation module, the maneuvering strategy simulation module, the imaging simulation module, the track attitude simulation module and the scene display module. According to task requirements, two working modes, namely an interface operation mode and a background calling mode, are designed, and under the two working modes, a unified operation framework and a back-end algorithm are adopted to realize corresponding task requirements.
In view of the above-mentioned related technologies, the inventor considers that the above-mentioned technologies have disadvantages of complex scheduling and do not describe the composition and details of the model and system in detail, and therefore, a technical solution needs to be proposed to improve the above-mentioned technical problems.
Disclosure of Invention
In view of the defects in the prior art, the present invention aims to provide a decision support super real-time computing system and method.
The decision support super real-time computing system comprises a task planning module and a super real-time simulation module, wherein the task planning module generates a satellite orbit transfer and adjustment strategy according to requirements, and the strategy generated by the super real-time simulation module is used for carrying out super real-time simulation verification.
Preferably, the task planning module generates a satellite orbit transfer and adjustment strategy, the task planning module is used for user task requirement input, system real-time posture calculation and auxiliary decision information generation, and the task planning module comprises a precision orbit recursion model.
Preferably, the super real-time simulation module comprises a satellite full-digital model, the super real-time simulation module performs super real-time simulation on the orbit transfer and adjustment strategy and performs dynamics recursion on the orbit and the attitude, the satellite full-digital model comprises an attitude measurement component, an execution mechanism digital model and attitude and orbit control simulation computer software, and the super real-time simulation module is used for satellite dynamics process simulation and super real-time simulation control.
Preferably, the super real-time simulation module comprises an orbit calculation model and an accurate orbit dynamics recursion model, the perturbation of the gravitational field is J2, J3 and J4, the perturbation of J22, J31, J33, J42 and J44 field harmonics, the perturbation of the three-body gravitation is the sun and the moon, and the perturbation of the sunlight pressure.
Preferably, the super real-time simulation module comprises an attitude dynamics calculation model, and the tank liquid shaking has attitude resolving capability on a track coordinate system, a northeast coordinate system and a safety coordinate system for a sailboard mode, a flywheel angular momentum, a sailboard angular momentum, a gravity gradient moment, a flywheel reaction moment, a thruster moment and a sunlight pressure disturbance moment.
Preferably, the super real-time simulation module comprises an attitude measurement component, an execution mechanism digital model, a flywheel model, a moment compensation wheel model, a 490N engine model, a thruster model, a solar cell array subsystem, a gyroscope model, an infrared earth sensor model, a star sensor model, a digital sun sensor model, an analog sun sensor model and a 0-1 type sun sensor model.
Preferably, attitude and orbit control simulation computer software in the super real-time simulation module provides 1750 virtual target machine and serial port debugging capability, simulates ports of an A/D, D/A, a serial port, a 1553 bus and the like of the satellite borne computer, and adjusts simulation step length.
The invention also provides a decision support super real-time computing method, which applies the decision support super real-time computing system and comprises the following steps:
step S1: inputting task types and various constraints required by task execution according to task requirements of a user;
step S2: calculating the relative relation and the orbit information between the satellites;
step S3: and calculating a track transfer and adjustment strategy according to the real-time posture information and the task type selection, and giving the position and the size of the speed pulse.
Preferably, the track transfer comprises the steps of:
step 1: the time length of stay in the original track is T1;
step 2: carrying out first Homan transfer to raise or lower the track;
and step 3: at elevated or lowered orbit dwell time T2.
Preferably, the track transfer further comprises the steps of:
and 4, step 4: performing a second Hulman transfer from the raised or lowered track to a new track;
and 5: and stopping at the new track T3.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention effectively solves the problem of fast planning simulation system under the full digital model, and can ensure that the task planning process is calculated by 1:1000 super real-time simulation, and the satellite full digital model simulation is calculated by 1:32 super real-time simulation;
2. the task planning module provided by the invention can generate a corresponding track transfer and adjustment strategy according to the input of a user, can use a high-precision/low-precision model for calculation, and has stronger engineering applicability;
3. the super real-time simulation module provided by the invention carries out one-to-one all-digital modeling on the satellite, comprises attitude measurement and execution mechanism modeling, attitude control computer modeling and the like, effectively simulates various dynamic results of the satellite running in space, and provides strong and beneficial support for simulation decision.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow chart of a decision support super real-time fast computing method according to the present invention;
FIG. 2 is a schematic view of the track transfer of the present invention;
fig. 3 is a schematic diagram of a satellite digital model of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the decision support super real-time computing system and method provided by the present invention includes a task planning module and a super real-time simulation module. The task planning module can generate satellite orbit transfer and adjustment strategies, can be used for user task requirement input, system real-time situation calculation, auxiliary decision information generation and the like, comprises a high/low precision orbit recursion model, and can realize 1:1000 super real-time simulation calculation in the calculation process.
The super real-time simulation module comprises a satellite full digital model, can perform super real-time simulation on orbit transfer and adjustment strategies and perform dynamics recursion on orbits and postures, and the digital model comprises a posture measurement component, an execution mechanism digital model, posture and orbit control simulation computer software and the like, is used for satellite dynamics process simulation and super real-time simulation control, and can realize 1:32 super real-time simulation calculation at the fastest speed. The system comprises an orbit calculation model, a high-precision orbit dynamics recursion model, a gravity field perturbation considering J2, J3 and J4 item perturbations and J22, J31, J33, J42 and J44 harmonic item perturbations, a three-body gravity perturbation considering the sun and the moon and a sunlight pressure perturbation; the attitude dynamics calculation model considers tank liquid shaking, sailboard mode, flywheel angular momentum, sailboard angular momentum, gravity gradient moment, flywheel reaction moment, thruster moment and sunlight pressure interference moment, and has attitude resolving capability under an orbit coordinate system, a northeast coordinate system and a safety coordinate system; the system comprises an attitude measurement component, an executing mechanism digital model, a flywheel model, a moment compensation wheel model, a 490N engine model, a thruster model, a solar cell array subsystem, a gyroscope model, an infrared earth sensor model, a star sensor model, a digital sun sensor model, an analog sun sensor model and a 0-1 type sun sensor model; attitude and orbit control simulation computer software provides a 1750 virtual target machine to realize a multi-redundancy simulation function and a serial port debugging capability, simulates ports such as an A/D, D/A, a serial port and a 1553 bus of an on-board simulation computer, and can adjust simulation step length so as to accelerate and decelerate simulation.
The invention provides a decision support super-real-time computing method, which comprises task planning, wherein the task planning comprises the following steps:
step S1: inputting a task requirement by a user, inputting a task type according to a task requirement, and executing each constraint required by the task; step S2: calculating the real-time situation of the system, calculating the relative relation between the satellites and the orbit information in a future period of time; step S3: and generating auxiliary decision information, calculating a track transfer and adjustment strategy according to the real-time situation information and the task type selection, and giving the position and the size of the speed pulse.
The track transfer in the task planning comprises the following steps:
step 1: the time length of stay in the original track is T1; step 2: carrying out first Homan transfer to raise or lower the track; and step 3: at elevated or lowered track dwell time T2; and 4, step 4: performing a second Huffman orbital transfer from the raised or lowered track to a new track; and 5: and stopping at the new track T3.
According to the method, the all-digital model is established, the track adjustment strategy is calculated by using the task planning system, and then the super-real-time simulation verification is carried out, so that the simulation cost can be effectively reduced, and the result can be quickly and effectively verified.
The invention effectively solves the problem of fast planning simulation system under the full digital model, and can ensure that the task planning process is calculated by 1:1000 super real-time simulation, and the satellite full digital model simulation is calculated by 1:32 super real-time simulation; the task planning module provided by the invention can generate a corresponding track transfer and adjustment strategy according to the input of a user, can use a high-precision/low-precision model for calculation, and has stronger engineering applicability; the super real-time simulation module provided by the invention carries out one-to-one all-digital modeling on the satellite, comprises attitude measurement and execution mechanism modeling, attitude control computer modeling and the like, effectively simulates various dynamic results of the satellite running in space, and provides strong and beneficial support for simulation decision.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The decision support super real-time computing system is characterized by comprising a task planning module and a super real-time simulation module, wherein the task planning module generates a satellite orbit transfer and adjustment strategy according to requirements, and the strategy generated by the super real-time simulation module is subjected to super real-time simulation verification.
2. The decision-support super real-time computing system of claim 1, wherein the task orchestration module generates satellite orbit transfer and adjustment strategies, the task orchestration module for user task requirement input, system real-time pose calculation, and generation of auxiliary decision information, the task orchestration module comprising an accuracy orbit recursion model.
3. The decision-support super real-time computing system of claim 1, wherein the super real-time simulation module comprises a full digital model of a satellite, the super real-time simulation module performing super real-time simulation of orbit transfer and adjustment strategies, and dynamic recursion of orbits and attitudes, the full digital model of a satellite comprising attitude measurement components, an actuator digital model, and attitude and orbit control simulation computer software, the super real-time simulation module for satellite dynamics process simulation and super real-time simulation control.
4. The decision support super real-time computing system of claim 1, wherein the super real-time simulation module comprises an orbit computing model and a precision orbit dynamics recursion model, the gravity field perturbations are J2, J3, J4 and J22, J31, J33, J42, J44 field perturbations, the three body gravity perturbations are the sun and the moon, and the solar light pressure perturbations.
5. The decision-support super real-time computing system of claim 1, wherein the super real-time simulation module comprises a posture dynamics computing model, and tank liquid sloshing has posture resolving capability under a track coordinate system, a northeast coordinate system and a safety coordinate system for windsurfing mode, flywheel angular momentum, windsurfing angular momentum, gravity gradient moment, flywheel reaction moment, thruster moment and solar pressure disturbance moment.
6. The decision-support super real-time computing system of claim 1, wherein the super real-time simulation module comprises an attitude measurement component and an actuator digital model, a flywheel model, a moment compensation wheel model, a 490N engine model, a thruster model, a solar array subsystem, a gyro model, an infrared earth sensor model, a star sensor model, a digital sun sensor model, an analog sun sensor model, and a 0-1 sun sensor model.
7. The decision-support super real-time computing system according to claim 1, wherein attitude and orbit control simulation computer software in the super real-time simulation module provides 1750 virtual target machine and serial port debugging capabilities, simulates ports such as A/D, D/A, serial port and 1553 bus of a satellite-borne computer, and adjusts simulation step size.
8. A decision-support super real-time computing method applying a decision-support super real-time computing system according to any one of claims 1 to 7, the method comprising task staging comprising the steps of:
step S1: inputting task types and various constraints required by task execution according to task requirements of a user;
step S2: calculating the relative relation and the orbit information between the satellites;
step S3: and calculating a track transfer and adjustment strategy according to the real-time posture information and the task type selection, and giving the position and the size of the speed pulse.
9. The decision-support super real-time computing method according to claim 8, wherein the orbit transfer comprises the steps of:
step 1: the time length of stay in the original track is T1;
step 2: carrying out first Homan transfer to raise or lower the track;
and step 3: at elevated or lowered orbit dwell time T2.
10. The decision-support super real-time computing method according to claim 9, wherein the orbit transfer further comprises the steps of:
and 4, step 4: performing a second Hulman transfer from the raised or lowered track to a new track;
and 5: and stopping at the new track T3.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115774606A (en) * | 2023-01-30 | 2023-03-10 | 中国电子科技集团公司第五十四研究所 | Space-ground parallel ground task verification method and system based on super real-time simulation |
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| CN109917669A (en) * | 2019-02-20 | 2019-06-21 | 上海卫星工程研究所 | Device and method are verified in the satellite GNC system integration based on dSPACE real-time simulation machine |
| CN111190356A (en) * | 2019-12-12 | 2020-05-22 | 上海卫星工程研究所 | Simulation decision support system, method and realization method of simulation decision support system |
| CN111624897A (en) * | 2020-06-23 | 2020-09-04 | 上海航天控制技术研究所 | Full-life satellite formation and orbit control full-process simulation verification method |
| CN112214902A (en) * | 2020-10-19 | 2021-01-12 | 哈尔滨工业大学 | Real-time simulation system for attitude and orbit control and single-machine communication of satellite |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109917669A (en) * | 2019-02-20 | 2019-06-21 | 上海卫星工程研究所 | Device and method are verified in the satellite GNC system integration based on dSPACE real-time simulation machine |
| CN111190356A (en) * | 2019-12-12 | 2020-05-22 | 上海卫星工程研究所 | Simulation decision support system, method and realization method of simulation decision support system |
| CN111624897A (en) * | 2020-06-23 | 2020-09-04 | 上海航天控制技术研究所 | Full-life satellite formation and orbit control full-process simulation verification method |
| CN112214902A (en) * | 2020-10-19 | 2021-01-12 | 哈尔滨工业大学 | Real-time simulation system for attitude and orbit control and single-machine communication of satellite |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115774606A (en) * | 2023-01-30 | 2023-03-10 | 中国电子科技集团公司第五十四研究所 | Space-ground parallel ground task verification method and system based on super real-time simulation |
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