CN116923724A - Aircraft maneuvering variable trajectory ground simulation flight test technology - Google Patents
Aircraft maneuvering variable trajectory ground simulation flight test technology Download PDFInfo
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Abstract
The application provides a ground simulation flight test technology of a maneuvering variable trajectory of an aircraft, and belongs to the technical field of ground simulation of the aircraft. The application comprises a ground simulation system and a digital twin system; the ground simulation system mainly comprises a six-degree-of-freedom platform and an electric control subsystem; the digital twin system mainly comprises a modeling simulation subsystem and a data management subsystem. The application is based on ground simulation flight test, fully exerts the advantages of modeling simulation and digital twin, and strengthens the mutual fusion of the two technologies. The modeling simulation means including the geometric modeling, flow field numerical simulation and flight simulation of the aircraft provide basic preparation for ground simulation tests, and the ground simulation tests provide a semi-physical simulation environment which is closer to the real working condition for the aircraft.
Description
Technical Field
The application relates to a ground simulation flight test technology of a maneuvering variable trajectory of an aircraft, and belongs to the technical field of ground simulation of the aircraft.
Background
Ground testing is an important link in the process from design and manufacture to pilot flight application of an aircraft, and is an essential part of the life cycle of the aircraft. Particularly, when a large maneuvering aircraft is used for coping with a variable trajectory flight mission, the flight environment is complex and changeable, and in order to ensure flight safety and stable control, test technologies including a flight test, a ground test, modeling simulation and the like are vital to development and evaluation of the aircraft.
The patent (patent, university of Harbin industry, CN104182272B, 20170412) provides a simulation test platform and a control method for hypersonic aircraft assessment, which can compare the control method of hypersonic aircraft with the advantages and disadvantages of hypersonic aircraft.
Paper "A Flight Simulation Vision for Aeropropulsion Altitude Ground Test Facilities" (A Flight Simulation Vision for Aeropropulsion Altitude Ground Test Facilities [ J ]. Journal of Engineering for Gas Turbines and Power,2005,127 (1): 21-31.) proposes a ground test method for an aircraft and its engines that simulates air pressure and incoming flow conditions of flight, providing a ground characterization platform that quantifies engine performance.
The paper "group-Based Simulation of Complex Maneuvers of a Delta-Wing air (R in M, hoehler G, bergmann A, et al group-Based Simulation of Complex Maneuvers of a Delta-Wing air [ J ]. Journal of Aircraft,2008,45 (1): 286-291.)" proposes a Ground simulation scheme for complex maneuvers of an X-31 Aircraft model in a low-speed wind tunnel, capable of realizing six-free motion simulation of the Aircraft.
The patent (patent, university of Harbin industry, CN104182272B, 20170412) provides a simulation test platform and a control method for hypersonic aircraft assessment, which can compare the control method of hypersonic aircraft with the advantages and disadvantages of hypersonic aircraft. But as a software examination and verification platform of the control algorithm, the simulation and verification platform only covers a known dynamic model, a kinematic model and a simulation and verification means of relevant aerodynamic parameters of the aircraft, and has weak reference for application and test application of the aircraft.
Paper "A Flight Simulation Vision for Aeropropulsion Altitude Ground Test Facilities" (A Flight Simulation Vision for Aeropropulsion Altitude Ground Test Facilities [ J ]. Journal of Engineering for Gas Turbines and Power,2005,127 (1): 21-31.) proposes a ground test method for an aircraft and its engines that simulates air pressure and incoming flow conditions of flight, providing a ground characterization platform that quantifies engine performance. But focusing on the simulation verification with the engine as a core, no detailed solution is given for the ground simulation technology of the aircraft with maneuvering and variable trajectory characteristics.
The paper "group-Based Simulation of Complex Maneuvers of a Delta-Wing air (R in M, hoehler G, bergmann A, et al group-Based Simulation of Complex Maneuvers of a Delta-Wing air [ J ]. Journal of Aircraft,2008,45 (1): 286-291.)" proposes a Ground simulation scheme for complex maneuvers of an X-31 Aircraft model in a low-speed wind tunnel, capable of realizing six-free motion simulation of the Aircraft. However, as the research object is clear, the system has no generality, and a supplementary verification system based on modeling simulation is not provided, more test times and test cost are brought.
Compared with the technology of the aircraft maneuvering variable trajectory ground simulated flight test, the prior art can only singly carry out modeling simulation or carry out a plurality of time-consuming simulation tests.
Based on the above, the patent proposes a motor variable trajectory ground simulation flight test technology of an aircraft. The ground simulation flight test technology starts from two angles of ground simulation and digital twinning, adopts a technical scheme based on the ground simulation flight test and combines the advantages of modeling simulation and digital twinning, can realize simulation verification based on a control theory and an aircraft model layer, can simulate a semi-physical simulation test which is closer to a real working condition, and provides a research and verification platform for a motor variable trajectory ground aircraft simulation flight test.
Disclosure of Invention
The application aims to solve the problems in the prior art and further provides a ground simulation flight test technology of the maneuvering variable trajectory of the aircraft.
The application aims at realizing the following technical scheme:
an aircraft maneuver variable trajectory ground simulation flight test device, comprising: a ground simulation system and a digital twin system;
the ground simulation system mainly comprises a six-degree-of-freedom platform and an electric control subsystem;
the six degree of freedom platform includes: parallel navigation, aircraft, linkage platform and bracket containing driver; a bracket with a driver is arranged on the parallel navigation, a linkage platform is connected with the bracket with the driver, an aircraft is arranged on the linkage platform, the connection part of the linkage platform and the aircraft is the position of the gravity center of the aircraft,
the electronic control subsystem comprises a six-degree-of-freedom platform industrial personal computer, a power engineering personal computer, a GNC computer and a data image output unit, wherein the GNC computer and the power engineering personal computer are used for simulating common airborne equipment of an aircraft, the six-degree-of-freedom platform industrial personal computer controls a six-degree-of-freedom platform in a ground simulation system, and the data image output unit transmits information of the electronic control subsystem to a digital twin system;
the digital twin system mainly comprises a modeling simulation subsystem and a data management subsystem;
the modeling simulation subsystem mainly comprises a guidance and control algorithm module, a control-oriented modeling module and a six-degree-of-freedom high-fidelity model module; the guidance and control algorithm module designs guidance and control instructions as input according to reference trajectory instructions, the guidance and control instructions enter the six-degree-of-freedom high-fidelity model module, the control-oriented modeling module is a nominal model of the aircraft system, the six-degree-of-freedom high-fidelity model is used for carrying out iterative updating, then the state is fed back to the guidance and control algorithm module, and the modeling simulation subsystem obtains necessary information and transmits the necessary information to the data management subsystem under the influence of external interference moment;
the data management subsystem mainly comprises: functional model, model update, reliability analysis, status forecast, history sub-module, and twin database unit; the functional model, the model update, the reliable analysis, the state forecast and the history record submodule and the twin database unit are in a data update storage and driving relation.
Preferably, the GNC computer calculates a guidance command by using the current six-degree-of-freedom position/posture information and the expected position/posture information, and then transmits the guidance command to the power industrial personal computer to realize the control of the aircraft; further, the guidance/control instruction is transmitted to the six-degree-of-freedom platform industrial personal computer, and the six-degree-of-freedom platform is utilized to realize control simulation of the aircraft.
The beneficial effects of the application are as follows:
the application aims to provide a specific scheme of the current aircraft maneuvering variable trajectory ground simulation flight test. With the development of modeling simulation and ground test technology, the specific gravity of the traditional aircraft test mode test-improvement-test is gradually reduced, so that the effects of reducing the number of flight tests, reducing the cost and shortening the time are achieved. The application is based on ground simulation flight test, which fully exerts the advantages of modeling simulation and digital twin and strengthens the mutual fusion of the two technologies. The modeling simulation means including the geometric modeling, flow field numerical simulation and flight simulation of the aircraft provide basic preparation for ground simulation tests, and the ground simulation tests provide a semi-physical simulation environment which is closer to the real working condition for the aircraft.
The digital twin technology is used as a tie for fusing the physical world and the virtual world, has the capability of expressing the aircraft in a digital twin library with high precision, high real-time performance and high integration level, and thus promotes the deep research on the aircraft. With the continuous progress of technology, the complexity of the structure and the system of the aircraft and the coupling between the systems are higher and higher, which results in the increase of the difficulty of comprehensive experiments, and the construction of a satisfactory experimental environment is difficult. Meanwhile, in order to perform the test, an extreme condition is necessarily required, and an extreme environment consisting of a plurality of extreme conditions may be at high risk on the test field and require a lot of costs. Therefore, the constructed digital twin library can adapt to the requirements and avoid the problems, and meanwhile, the test conditions can be quickly adjusted, the test results can be quickly obtained, and the state of the aircraft can be corrected. In order to perform design verification of an aircraft, various tests such as a feasibility test, a system integration test, and an airworthiness test of each system must be performed, and these tests generally require the use of a model or an actual article. However, existing test patterns based on physical requirements have some difficulties: firstly, because the test depends on an actual object, the problems in the test process cannot be fed back and improved rapidly, and a great deal of time and resources are required to be input for correcting errors in the design stage; secondly, the simulation test is limited by conditions, so that various states possibly occurring in the flight process are hardly covered; finally, as the complexity of the system coupling increases, comprehensive testing becomes more difficult and even some tests may be at high risk. The digital twin technology is applied, and based on the technical index requirements, the overall scheme framework, the detailed design and other factors, the high-precision, multi-system and high-complexity aircraft database is constructed by utilizing data twin for testing. Compared with the traditional design sample test flow, the method can be started and used in the initial stage of the design of the aircraft by testing in the data twin library, and the concepts of design, test and correction are realized, so that the reworking of high time cost and economic cost caused by the design of test hysteresis is avoided.
Drawings
FIG. 1 is a schematic structural diagram of the aircraft maneuver variable trajectory ground simulation flight test technique of the present application.
FIG. 2 is a schematic diagram of a six degree of freedom platform configuration for the aircraft maneuver variable trajectory ground simulation flight test technique of the present application.
In the figure, reference numeral 1 is parallel navigation, 2 is an aircraft, 3 is a linkage platform, and 4 is a bracket with a driver.
Detailed Description
The application will be described in further detail with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present application, and a detailed implementation is given, but the scope of protection of the present application is not limited to the following embodiments.
As shown in fig. 1 and 2, the technology of the ground simulation flight test of the maneuvering variable trajectory of the aircraft according to the embodiment includes:
the ground simulation flight test device for the maneuvering variable trajectory of the aircraft consists of a ground simulation system and a digital twin system, as shown in figure 1.
The ground simulation system mainly comprises a six-degree-of-freedom platform and an electric control subsystem; the six-degree-of-freedom platform is a mechanism comprising a wind tunnel environment, as shown in fig. 2, and comprises: parallel navigation 1, aircraft 2, linkage platform 3 and bracket 4 with driver; the parallel navigation device comprises a parallel navigation device 1, wherein a bracket 4 containing a driver is arranged on the parallel navigation device 1, a linkage platform 3 is connected with the bracket 4 containing the driver, an aircraft 2 is arranged on the linkage platform 3, and the connection part of the linkage platform 3 and the aircraft 2 is the position of the center of gravity of the aircraft. The six-degree-of-freedom motion of the aircraft 2 connected in parallel can be realized, meanwhile, the requirements of large-amplitude and high-speed arbitrary motion are met, a wind tunnel environment under the corresponding working condition is provided, and the ground simulation of maneuvering and variable ballistic tasks of the aircraft is realized.
The electric control subsystem comprises a six-degree-of-freedom platform industrial personal computer, a power engineering personal computer, a GNC computer and a data image output unit and is used for generating execution instructions to control the six-degree-of-freedom platform to move according to different maneuvering tasks of the aircraft, so that the movement control of the aircraft is realized. Finally, the data is transmitted to a digital twin system through a data image output unit.
The GNC computer and the power engineering computer are used for simulating common airborne equipment of the aircraft, and the six-degree-of-freedom platform industrial computer is used for controlling a six-degree-of-freedom platform in the ground simulation system, wherein the GNC computer and the power engineering computer are used for simulating the common airborne equipment of the aircraft and are used for providing navigation guidance control instructions for the aircraft; the control object of the six-degree-of-freedom platform industrial personal computer is a six-degree-of-freedom platform in a ground simulation system, and the six-degree-of-freedom platform industrial personal computer is used as an actual control system for simulating the ground motion of an aircraft. More specifically, the GNC computer calculates a guidance command using the current six-degree-of-freedom position/posture information and the desired position/posture information, and then transmits the guidance command to the power industrial personal computer to realize control of the aircraft; further, the guidance/control instruction is transmitted to the six-degree-of-freedom platform industrial personal computer, and the six-degree-of-freedom platform is utilized to realize control simulation of the aircraft. The task of the data image output unit is to transmit the information of the electric control subsystem to the digital twin system, so as to realize real-time feedback of the information and iterative update of the model.
The digital twin technology can collect data obtained by the aircraft in the flight process, and constructs the real environment according to the data, so that the constructed environment can be adopted when the digital twin technology is used for designing and verifying a novel aircraft for test. Compared with the relatively single environment provided by the test place, the digital twin library has more diversity, and can more closely simulate various flight conditions in the flight envelope, especially those which cannot be realized under the relatively stable climate condition of the test place. Higher complexity tests naturally produce more reliable test results, thereby enabling the aircraft to exhibit higher mission performance and safe flight capabilities during operation. When designing a novel aircraft, the flight data of the previous model aircraft can be utilized to carry out simulation test on the novel digital twin body so as to reduce test cost. In addition, the test can be simultaneously carried out on the digital twin bodies of the new and old types of aircrafts, so that a comparative conclusion can be conveniently drawn, and the development work of the new type of aircrafts is promoted.
The digital twin system mainly comprises a modeling simulation subsystem and a data management subsystem;
the modeling simulation system mainly comprises: the system comprises a guidance and control algorithm module, a control-oriented modeling module and a six-degree-of-freedom nonlinear motion model module. The designed guidance and control algorithm module designs guidance and control instructions as input according to reference trajectory instructions, enters a six-degree-of-freedom high-fidelity model module (comprising an aircraft dynamics and kinematics model), feeds back states to the guidance and control algorithm module, and transmits simulation information to the data management subsystem. The guidance and control algorithm output instruction of the modeling simulation system considers the influence of external disturbance moment; the modeling module facing control is a nominal model of the aircraft system, is established in a basic kinetic equation relation, and can be used for iteratively updating the six-degree-of-freedom high-fidelity model according to the adopted maneuvering aircraft by taking the fact that the nominal model cannot be used for accurate modeling into consideration, so that the model is more approximate to a real aircraft system, and then the state is fed back to the guidance and control algorithm module to realize compensation and correction of defects of the simulation model.
The data management subsystem is another core component of the digital twin system and mainly comprises: functional model, model update, reliability analysis, status prediction, history, etc. (hereinafter referred to as functional sub-module) and a twin database unit. The function sub-module and the twin database unit are in a relation of data update storage and driving, and the function sub-module and the twin database unit are complementary. The concrete description is as follows: the twin database provides data support for the functional submodule, the functional submodule provides driving for the twin database, and the two information are interacted and iterated to play roles of the functional submodule.
Functional model: the method is used for modeling and analyzing the control system, the environment, the sensor and the faults of the aircraft, is beneficial to improving the design and implementation of a test system and improves the test effect and reliability. 1) Manipulating the system model: the assembly describes the steering system of an aircraft, including movements of flight control surfaces (e.g., elevators, flaps, rudders, etc.), steering inputs and feedback, and the like. It mimics the steering response and control capabilities of an aircraft. 2) Environmental model: the assembly simulates the environmental conditions of the aircraft, including atmospheric air flow, wind direction and speed, air temperature, air pressure, etc. It has an effect on the flight performance and stability of the aircraft. 3) Sensor model: analog sensor devices, such as Inertial Measurement Units (IMUs), barometers, gyroscopes, etc., are used to measure state variables of the aircraft and input them into the system for data acquisition and feedback. 4) Fault model: simulating fault events and the influence of faults on the test system. It can help analyze and evaluate the coping capability of the system and the failure recovery strategy when a failure occurs.
Model updating: for updating and improving the digital twin model to more accurately reflect the performance and behavior of the actual aircraft. The method for updating the digital twin model comprises the following steps: 1) Data driven update: parameters and states of the digital twin model are continuously updated by using sensor data and test data of the actual aircraft to maintain consistency with the actual aircraft. Effective information can be extracted from mass data to update the model through methods such as machine learning, data analysis and the like. 2) Updating ground simulation test: performance data of the aircraft is obtained by performing various tests, such as aerodynamic tests, structural strength tests, etc., in a ground simulation platform and applied to a digital twin model. Thus, the parameters and the behaviors of the model can be accurately adjusted, so that the model is more close to the situation of the aircraft under the actual working condition. 3) Mathematical model improvement: by improving and optimizing mathematical models and algorithms in the digital twin model, the physical characteristics and dynamic behavior of the aircraft can be more accurately described. For example, aerodynamic models, control models, sensor models, etc. are modified to improve model accuracy and predictive power. 4) Integrating the multidisciplinary model: aircraft is a complex system involving knowledge and models in a number of disciplinary fields. When the digital twin model is updated, more multidisciplinary models, such as a structural model, a combustion model, a thermodynamic model and the like, can be integrated to comprehensively analyze and predict the performance of the aircraft. In conclusion, the digital twin model of the aircraft can be updated in a data driving mode, a ground simulation test mode, a mathematical model improvement mode, an integrated multidisciplinary model mode and the like, so that the accuracy and the prediction capability of the model are improved.
Reliability analysis: for evaluating and ensuring the reliability and effectiveness of ground simulation tests to simulate the behaviour and performance of an aircraft in maneuver variable ballistic flight. And recording high-quality data generated in the ground simulation test, and carrying out accurate and comprehensive data analysis. Corresponding correction and control measures are formulated by analyzing and evaluating fault modes, fault results and influences which possibly occur in the ground simulation test. In addition, there is a need for repeatability and consistency verification of ground simulation tests, ensuring consistent results can be obtained under the same input conditions.
State forecast: for providing predictions and forecasts of the status of an aircraft in a maneuver variable ballistic ground-based simulated flight test. And establishing a state prediction model of the aircraft by combining the six-degree-of-freedom high-fidelity model and the historical test data. By analyzing historical operation data of the aircraft, the association relation between the state and the input parameters and the environmental conditions is learned and found so as to predict the state of the future aircraft.
History record: the method is used for providing comparison verification, fault diagnosis, trend prediction and decision support of data, and can improve the reliability, effectiveness and efficiency of the ground simulation flight test of the maneuvering variable trajectory of the aircraft. 1) The history may be used for comparison and verification with current test data. By comparing with the previous test record, the accuracy and consistency of the current test result can be determined, and the reliability of the test equipment and method can be evaluated. 2) The history provides a record of faults and problems encountered in past trials. When a similar fault or problem reappears, a quick diagnosis and resolution can be made with reference to the solutions in the history. 3) The large amount of data accumulated by the history can be used for data analysis and trend prediction. Through analysis of the historical data, potential trends and patterns can be found, possible results of future tests can be predicted, and corresponding adjustments and optimizations can be made. 4) The history may provide a reference value basis for decisions. By analyzing test results, fault conditions, parameter changes and the like in the history records, a decision maker can be supported to make decisions in the aspects of test planning, equipment configuration, resource allocation and the like.
Considering that the aircraft system has complex structure and various functions, the aircraft system has various test data and huge quantity, especially for the aircraft with strong maneuverability and variable trajectory. The data management subsystem in the application can realize the following operations: firstly, test data are safely and effectively stored, and necessary information support is provided for digital twinning; secondly, the current aircraft state and environment state data can be displayed in real time, the interoperability and connectivity of test resources are enhanced, so that the interoperability of different types of test resources is realized, and support is provided for effective interaction of simulated flight; and thirdly, the data can be dynamically compared with historical data, and the data can be used as a powerful basis for modeling and controller correction.
The ground simulation flight test method for the maneuvering variable trajectory of the aircraft comprises the following steps of:
step one: in the modeling simulation subsystem, a control-oriented six-degree-of-freedom aircraft nominal model is established by utilizing kinematics and dynamics equations and combining known aircraft nominal parameters, and the model is used as experience knowledge to be transmitted to the electric control subsystem and the data management subsystem;
step two: the GNC computer calculates a guidance instruction by utilizing the current six-degree-of-freedom position/gesture information and the expected position/gesture information, and then transmits the guidance instruction to the power industrial personal computer so as to realize the control of the aircraft; the position/gesture information and the guidance instruction are synchronized with the data image output unit and fed back to the digital twin system in real time;
step three: based on the second step, the modeling subsystem acquires a current reference trajectory instruction for modeling simulation verification; specifically, by utilizing a pre-designed guidance and control algorithm, considering the influence of external interference moment, and based on the six-degree-of-freedom aircraft nominal model facing control in the first step, obtaining a six-degree-of-freedom high-fidelity model through iterative optimization; meanwhile, the high-fidelity model and the data management subsystem perform information interaction and then are transmitted to the ground simulation system for on-line control of the electric control subsystem on the aircraft;
step four: based on the second step, transmitting guidance/control instructions to the six-degree-of-freedom platform industrial personal computer, wherein the six-degree-of-freedom platform industrial personal computer controls a six-degree-of-freedom platform in the ground simulation system to realize control simulation of the aircraft; the six-degree-of-freedom platform can move on three rotation shafts (roll, pitch and yaw) and three translation shafts (front and back, left and right and up and down) to simulate all possible movements of the aircraft in the air, so that the behavior of the aircraft under various flight environments and states is simulated; the real-time state information of the six-degree-of-freedom platform and the guidance/control instruction information of the electric control subsystem can be interactively utilized in real time, and the real-time state information and the guidance/control instruction information are synergistic to realize accurate control and simulation verification of the aircraft; the state information and guidance/control instruction information of the aircraft are synchronized with the data image output unit and fed back to the digital twin system in real time;
step five: based on the above steps, the digital twin system will collect and store the following information: real-time monitoring data of the aircraft, guidance/control instructions of the electric control subsystem, simulation data of the modeling simulation subsystem and high-fidelity model parameters; the data management subsystem comprehensively processes the information and uses the functional sub-module as a guide drive twin database unit to update data; establishing a virtual model of the aircraft with digital twin attributes, keeping the control mode and parameters of the virtual model consistent with those of a real aircraft, and displaying the working condition of the system to form functional modules, such as a functional model, model updating, reliable analysis, state prediction and history record; under the support of real-time data, carrying out full-scale overall process verification on a subsequent test by a virtual-real combination verification technology, and carrying out optimization adjustment; and by combining the historical record, the reliable analysis and the model knowledge base, the method can also be used for deep application such as test evaluation, health evaluation, fault prediction and the like.
In the foregoing, the present application is merely preferred embodiments, which are based on different implementations of the overall concept of the application, and the protection scope of the application is not limited thereto, and any changes or substitutions easily come within the technical scope of the present application as those skilled in the art should not fall within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (3)
1. An aircraft maneuver variable trajectory ground simulation flight test device, comprising: a ground simulation system and a digital twin system;
the ground simulation system mainly comprises a six-degree-of-freedom platform and an electric control subsystem;
the six degree of freedom platform includes: parallel navigation (1), an aircraft (2), a linkage platform (3) and a bracket (4) containing a driver; a bracket (4) containing a driver is arranged on the parallel navigation (1), the linkage platform (3) is connected with the bracket (4) containing the driver, the aircraft (2) is arranged on the linkage platform (3), and the connection part of the linkage platform (3) and the aircraft (2) is the position of the center of gravity of the aircraft;
the electronic control subsystem comprises a six-degree-of-freedom platform industrial personal computer, a power engineering personal computer, a GNC computer and a data image output unit, wherein the GNC computer and the power engineering personal computer are used for simulating common airborne equipment of an aircraft, the six-degree-of-freedom platform industrial personal computer controls a six-degree-of-freedom platform in a ground simulation system, and the data image output unit transmits information of the electronic control subsystem to a digital twin system;
the digital twin system mainly comprises a modeling simulation subsystem and a data management subsystem;
the modeling simulation subsystem mainly comprises a guidance and control algorithm module, a control-oriented modeling module and a six-degree-of-freedom high-fidelity model module; the guidance and control algorithm module designs guidance and control instructions as input according to reference trajectory instructions, the guidance and control instructions enter the six-degree-of-freedom high-fidelity model module, the control-oriented modeling module is a nominal model of the aircraft system, the six-degree-of-freedom high-fidelity model is used for carrying out iterative updating, then the state is fed back to the guidance and control algorithm module, and the modeling simulation subsystem obtains necessary information and transmits the necessary information to the data management subsystem under the influence of external interference moment;
the data management subsystem mainly comprises: functional model, model update, reliability analysis, status forecast, history sub-module, and twin database unit; the functional model, the model update, the reliable analysis, the state forecast and the history record submodule and the twin database unit are in a data update storage and driving relation.
2. The aircraft maneuver variable trajectory ground simulation flight test device of claim 1, wherein the GNC computer calculates a guidance command using the current six degrees of freedom position/attitude information and the desired position/attitude information, and then transmits the guidance command to the kinetic industrial personal computer to effect control of the aircraft; further, the guidance/control instruction is transmitted to the six-degree-of-freedom platform industrial personal computer, and the six-degree-of-freedom platform is utilized to realize control simulation of the aircraft.
3. A method of ground simulation flight testing of a mobile variable trajectory of an aircraft, implemented with the device according to any one of claims 1-2, comprising the steps of:
step one: in the modeling simulation subsystem, a control-oriented six-degree-of-freedom aircraft nominal model is established by utilizing kinematics and dynamics equations and combining known aircraft nominal parameters, and the model is used as experience knowledge to be transmitted to the electric control subsystem and the data management subsystem;
step two: the GNC computer calculates a guidance instruction by utilizing the current six-degree-of-freedom position/gesture information and the expected position/gesture information, and then transmits the guidance instruction to the power industrial personal computer so as to realize the control of the aircraft; the position/gesture information and the guidance instruction are synchronized with the data image output unit and fed back to the digital twin system in real time;
step three: based on the second step, the modeling subsystem acquires a current reference trajectory instruction for modeling simulation verification; specifically, by utilizing a pre-designed guidance and control algorithm, considering the influence of external interference moment, and based on the six-degree-of-freedom aircraft nominal model facing control in the first step, obtaining a six-degree-of-freedom high-fidelity model through iterative optimization; meanwhile, the high-fidelity model and the data management subsystem perform information interaction and then are transmitted to the ground simulation system for on-line control of the electric control subsystem on the aircraft;
step four: based on the second step, transmitting guidance/control instructions to the six-degree-of-freedom platform industrial personal computer, wherein the six-degree-of-freedom platform industrial personal computer controls a six-degree-of-freedom platform in the ground simulation system to realize control simulation of the aircraft; the six-degree-of-freedom platform can move up and down on three rotation shafts, namely roll, pitch, yaw and three translation shafts, namely front, back, left, right and up and down, and simulate all possible movements of the aircraft in the air, so that the behavior of the aircraft under various flight environments and states is simulated; the real-time state information of the six-degree-of-freedom platform and the guidance/control instruction information of the electric control subsystem can be interactively utilized in real time, and the real-time state information and the guidance/control instruction information are synergistic to realize accurate control and simulation verification of the aircraft; the state information and guidance/control instruction information of the aircraft are synchronized with the data image output unit and fed back to the digital twin system in real time;
step five: based on the above steps, the digital twin system will collect and store the following information: real-time monitoring data of the aircraft, guidance/control instructions of the electric control subsystem, simulation data of the modeling simulation subsystem and high-fidelity model parameters; the data management subsystem comprehensively processes the information and uses the functional sub-module as a guide drive twin database unit to update data; establishing a virtual model of the aircraft with digital twin attributes, keeping the control mode and parameters of the virtual model consistent with those of a real aircraft, and displaying the working condition of the system to form functional modules, such as a functional model, model updating, reliable analysis, state prediction and history record; under the support of real-time data, carrying out full-scale overall process verification on a subsequent test by a virtual-real combination verification technology, and carrying out optimization adjustment;
and by combining the historical record, the reliable analysis and the model knowledge base, the method can also be used for deep application such as test evaluation, health evaluation, fault prediction and the like.
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