DE102015016818A1 - Test rig for a shear control device, test bench unit with test object and simulation method - Google Patents

Abstract

A test stand for a thrust control device (30), in particular for a thrust control device of an unmanned missile, is provided with - a support device (2) for receiving a the thrust control device (30) to be tested specimen (3), - a storage arrangement (4) for the Carrier device (2), which has at least one degree of freedom and which is configured to move the carrier device (2) about at least one axis (X, Y, Z) and / or along at least one of the axes (X, Y, Z) enable; - Sensors (5), which detect the position and / or movement of the carrier device (2); - actuators (6) operatively coupled to the carrier device (2) and connected to an actuator control means (60) for receiving actuator commands; - A simulation device (7) with a simulation computer (70), wherein the simulation device (7) with the sensors (5) and with the actuator control device (60) for data transmission is electrically connected.

Description

TECHNICAL AREA

The present invention relates to a test stand for a thrust control device. In particular, the invention relates to a test stand for a thrust control device of an unmanned missile. Furthermore, the invention relates to a test bench unit from such a test bed and a test object. Finally, the invention is also directed to a method for simulating the flight behavior of a test piece provided with a thrust control device, in particular a transverse thrust control device, in particular a missile, with a test bench unit. Such a test stand is used for testing a thrust control device, for example a transverse thrust control device, in a closed loop in a soil test.

BACKGROUND OF THE INVENTION

For soil tests of thrust control devices, in particular transverse thrust control devices, so far test stands are used in which the specimen is fixed in position. Such tests only allow the measurement of the forces generated by the thrust control device, which follow a preprogrammed course. An interaction between the overall (missile) control and the thrust control device can not be tested.

PRESENTATION OF THE INVENTION

The object of the present invention is to provide a test stand, a test stand unit comprising a test stand provided with a test specimen and a method for simulating the flight behavior of a test specimen provided with a thrust control device, with which interactions between the thrust control device and its control device can be tested on the ground close to reality.

The directed to the test part of the problem is solved by a test stand with the features of claim 1.

An inventive test stand for a thrust control device, in particular for a thrust control device of an unmanned missile, is provided with a support device for receiving a to be tested thrust control device having test specimen, a storage arrangement for the support device, which has at least one degree of freedom and which is configured to a movement of the Carrier device to allow at least one axis and / or along at least one of the axes, with sensors that detect the position and / or movement of the carrier device, with actuators that are operatively coupled to the carrier device and with an actuator control device for receiving are connected by actuator commands, and with a simulation computer having a simulation device, wherein the simulation device with the sensors and with the actuator control device for data transmission is electrically connected.

ADVANTAGES

The test stand according to the invention makes it possible to test functions and parameters which are conventionally testable only in flight tests, also in soil tests. This results in a significant reduction in costs. The tests carried out on the test bench according to the invention are reproducible, that is, systematic errors can be found when errors occur. This test stand also allows the dedicated investigation of coupling effects on the control, for example the effect of aerodynamically induced roll moments on the pitch plane and the yaw plane.

Further preferred and advantageous design features of the test stand according to the invention are the subject of the dependent claims 2 and 3.

It is advantageous if the storage arrangement for the carrier device has at least two, preferably at least three, rotational degrees of freedom and is designed so that the carrier device is movable about at least two of the three axes.

Alternatively or additionally, it is advantageous if the storage arrangement for the carrier device has at least two, preferably at least three, translatory degrees of freedom and is designed such that the carrier device is movable along at least two of the three axes.

The directed to the test unit part of the object is achieved by the test unit with the features of claim 4, which has a test stand according to the invention, with the support device, a test object is connected.

Further preferred and advantageous design features of the test stand unit according to the invention are the subject matter of subclaims 5 to 9.

Preferably, the thrust control device of the test specimen on at least two nozzles, which can be acted upon by a compressed gas source individually controllable with compressed gas.

It is furthermore advantageous if the test object is connected or provided with a flight guidance computer.

In an advantageous embodiment of the test stand unit according to the invention, the carrier device or the test object received by the carrier device has an inertial navigation device which acts on the thrust control device of the test object with inertial navigation signals.

It is particularly advantageous if the thrust control device of the test object is electrically conductively connected to the simulation device for data transmission.

The part of the object directed to the method is achieved by the method for simulating the flight behavior of a test piece provided with a thrust control device with the features of claim 10.

• a) Berechnen von Flugbahndaten einer Flugbahn für einen zu simulierenden Flug eines die Schubsteuereinrichtung aufweisenden Prüflings anhand von vorgegebenen Missionsdaten durch den Simulationscomputer;
• b) Übersenden der berechneten Flugbahndaten vom Simulationscomputer an einen Flugführungsrechner, der mit der Schubsteuereinrichtung des Prüflings zur Datenübertragung verbunden ist;
• c) Berechnen von Lenkbefehlen durch den Flugführungsrechner anhand der empfangenen Flugbahndaten und anhand von Positions-, Lage- und/oder Bewegungsdaten des Prüflings;
• d) Umwandlung der Lenkbefehle in Stellkommandos für Steuerdüsen der Schubsteuereinrichtung und Übertragen dieser Stellkommandos an die Schubsteuereinrichtung.

This method for simulating the flight behavior of a test piece provided with a thrust control device, in particular a transverse thrust control device, in particular a missile, with a test bench unit according to the invention has the following steps:

• a) calculating trajectory data of a trajectory for a flight to be simulated by a specimen comprising the thrust control device on the basis of predetermined mission data by the simulation computer;
• b) transmitting the calculated trajectory data from the simulation computer to a flight guidance computer connected to the thrust control device of the device under test for data transmission;
• c) calculating steering commands by the flight guidance computer on the basis of the received trajectory data and on the basis of position, position and / or movement data of the test object;
• d) conversion of the steering commands in control commands for control nozzles of the thrust control device and transmitting these control commands to the thrust control device.

With this method, it is possible to check functions and parameters which are conventionally testable only in flight tests, also in soil tests with a test stand designed according to the invention and to achieve its already mentioned advantages.

Further preferred and advantageous design features of this method according to the invention are the subject matter of subclaims 11 to 15.

Preferably, actuator commands are generated by means of the actuator control device, which commands are routed to the actuators in order to simulate disturbance variables acting externally on the test object. In this way, for example, aerodynamic influences or disturbances in a simulation can be taken into account.

The actuator commands are preferably generated on the basis of disturbance simulation commands which are sent from the simulation device to the actuator control device.

In an advantageous development of the method, the position, position and / or movement data of the test object are determined by an inertial navigation device and transmitted to the flight guidance computer, wherein the inertial navigation device is part of the test object or a support device for the test object.

It is also particularly advantageous if parameters and performance parameters of the thrust control device, such as the course of forces or moments over time, are measured by means of a measurement data acquisition device and processed by a measurement data computer and forwarded as feedback data to the simulation device.

In this case, the measured data acquisition device and the simulation device are preferably time-synchronized.

Preferred embodiments of the invention with additional design details and other advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

It shows:

1 a schematic block diagram of a provided with a test specimen test bench according to the invention and

2 a schematic schematic diagram of a component assembly for carrying out the method according to the invention.

PRESENTATION OF PREFERRED EMBODIMENTS

1 shows a schematic representation of a block diagram of a test unit according to the invention with a test stand according to the invention 1 who with a examinee 3 is provided.

The test bench shown 1 to simulate a thrust control device 30 , For example, a shear unit 31 , Essentially consists of a mechanical support device 2 for receiving the test piece 3 and a storage arrangement 4 for the carrier device 2 ,

The examinee 3 includes as a thrust control device 30 a shear unit (QSE) 31 , a flight guidance calculator (FFR) 32 with a flight control device 33 and an inertial navigation device (IMU) 34 , The storage arrangement 4 for the carrier device 2 is formed for example by a suspension which comprises at least three rotational degrees of freedom, but which may additionally comprise three translatory degrees of freedom. On the carrier device 2 are thus the transverse thrust unit 31 trained thrust control device to be tested 30 as well as the Flight Guidance Calculator (FFR) 32 and the inertial navigation device (IMU) 34 appropriate. The flight guidance calculator 32 and the inertial navigation device 34 can also be separated from the examinee 3 that is, from the thrust control device 30 , be provided.

The shear unit 31 has a control system consisting of four controllable, Cartesian arranged control nozzles. The control nozzles are powered by a gas generator. The gas generator is ignited to test start. In the start position, the nozzles are set to produce even thrust in all directions.

On the carrier device 2 or directly on the test object 3 provided sensors 5 detect the position and / or the movement of the support device 2 or the examinee 3 ,

actuators 6 are with the carrier device 2 or directly with the examinee 3 functionally coupled, for example, mechanically connected, and adapted to mechanical forces and / or pulses in the carrier device 2 or in the examinee 3 initiate. The actuators 6 are with an actuator control device 60 and are operatively connected by the actuator controller 60 acted upon by actuator control commands.

Furthermore, a simulation device 7 provided a simulation computer 70 has, on which a simulation software is stored executable. The simulation device 7 is designed to allow simulation in six degrees of freedom (6-DOF). A measurement data computer 80 a measurement data acquisition device 8th is with the thrust control device 30 and with the simulation computer 70 connected to the data transmission.

The actuators 6 allow the imposition of external translational forces on the carrier device 2 and thus on the attached test specimen 3 in the direction of all three axes. If the test specimen is a missile or part of a missile, then it is the case that the aerodynamics and the mass inertia act on the missile in real flight in practice. These forces occurring in real flight are in a simulation on the test bench according to the invention 1 from the in the simulation computer 70 derived 6-DOF simulation and via the actuators 6 in the carrier device 2 initiated. The actuator control device 60 is about the simulation facility 7 with the stimulation of the flight guidance computer 32 synchronized.

The with a missile as a candidate 3 provided carrier device 2 is stimulated by two sources. The first stimulation takes place via the control of the thrust control device 30 and the second stimulation takes place via the actuation of the actuators 6 ,

With the in the simulation computer 70 6 DOF simulation, a trajectory for the missile is calculated. The trajectory results in steering commands for the missile. The with the flight guidance computer 32 linked flight control device 33 converts these steering commands into positioning commands for the control nozzles of the shear unit 31 which then generate corresponding recoil forces. These recoil forces result in a movement of the carrier device 2 , This movement is via the position sensors of the inertial navigation device 34 measured and to the with the flight guidance calculator 32 linked flight control device 33 returned. From those in the simulation computer 70 calculated control commands and the subsequently measured motion data and optionally further external information of the missile (for example, target measurement data, steering commands) determines the flight control device 33 new positioning commands.

Acceleration required for steering and control can be modeled within the 6-DOF simulation or from measurements of the carrier device 2 be derived.

The relevant parameters and performance parameters of the shear unit 31 be via the measurement data computer 80 recorded and can be made available to the 6-DOF simulation. The measurement data computer 80 also records the movements and position of the carrier device 2 on. The measurement data computer 80 is with the simulation device 7 and the actuator controller 60 time synchronized.

The with the examinee 3 provided carrier device 2 is with the sensors 5 and the actuators 6 mechanically coupled. The sensors 5 are with a sensor signal evaluation device 50 connected to the signal transmission and the sensor signal evaluation device 50 is with the simulation computer 70 connected to the data transmission. The actuators 6 are, as already related to 1 has been shown and described, with an actuator control device 60 from which they receive control signals. The actuator control device 60 is in turn with the simulation computer 70 connected, from the control signals to the actuator controller 60 be transmitted.

The sensors 5 , the actuators 6 , the sensor signal evaluation device 50 and the actuator controller 60 form a "hardware-in-the-loop" (HIL), which is between the simulation device 7 and the one with the examinee 3 provided carrier device 2 is provided. The sensors form this 5 and the actuators 6 a mechanical interface MS of HIL.

The thrust control device 30 is like in the example of 1 with the measurement data computer 80 the measurement data acquisition device connected to the data transmission and the measurement data computer 80 is in turn with the simulation computer 70 connected to the data transmission. Furthermore, the simulation computer 70 directly with the flight guidance calculator 32 connected to the data transmission.

Another schematic representation of the test stand according to the invention 1 is in 2 shown.

The test rig construction according to the invention allows the test of a shear thrust unit in the closed loop. Alternatively, the lateral thrust unit can only be controlled by precalculated commands, that is, it is tested here whether the transverse thrust unit can follow predetermined thrust and command progress.

Reference signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

LIST OF REFERENCE NUMBERS

1

test bench

2

support device

3

examinee

4

bearing assembly

5

sensors

6

actuators

7

simulation device

8th

Data detecting means

30

Boost controller

31

Transverse thrust unit (QSE)

32

Flight Guidance Calculator (FFR)

33

Flight control device

34

Inertial Navigation Device (IMU)

50

Sensor signal evaluation

60

Actuator control means

70

computer simulation

80

Data computer

Claims (15)

Test rig for a thrust control device ( 30 ), in particular for a thrust control device of an unmanned missile, having - a carrier device ( 2 ) for receiving a thrust control device to be tested ( 30 ) ( 3 ), - a storage arrangement ( 4 ) for the carrier device ( 2 ) which has at least one degree of freedom and which is designed to prevent a movement of the carrier device ( 2 ) to allow at least one axis (X, Y, Z) and / or along at least one of the axes (X, Y, Z); - Sensors ( 5 ), which determines the position and / or the movement of the carrier device ( 2 ) to capture; - Actuators ( 6 ) associated with the carrier device ( 2 ) are functionally coupled and which are provided with an actuator control device ( 60 ) are connected to receive actuator commands; - a simulation device ( 7 ) with a simulation computer ( 70 ), the simulation device ( 7 ) with the sensors ( 5 ) and with the actuator control device ( 60 ) is electrically conductively connected to the data transmission. Test stand according to claim 1, characterized in that the storage arrangement ( 4 ) for the carrier device ( 2 ) has at least two, preferably at least three, rotational degrees of freedom and is designed such that the carrier device ( 2 ) about at least two of the three axes (X, Y, Z) is movable. Test stand according to claim 1 or 2, characterized in that the storage arrangement ( 4 ) for the carrier device ( 2 ) has at least two, preferably at least three, translational degrees of freedom and is designed such that the carrier device ( 2 ) is movable along at least two of the three axes (X, Y, Z). Test bench unit from a test bench ( 1 ) according to one of the preceding claims and one with the carrier device ( 2 ) connected test piece ( 3 ). Test stand unit according to claim 4, characterized in that the thrust control device ( 30 ) of the test piece ( 3 ) at least two nozzles ( 302 . 304 . 306 . 308 ), which from a compressed gas source ( 300 ) are individually adjustable with pressurized gas acted upon. Test stand unit according to claim 4, characterized in that the thrust control device ( 30 ) of the test piece ( 3 ) four Cartesian nozzles ( 302 . 304 . 306 . 308 ) having. Test stand unit according to one of claims 4 to 6, characterized in that the test object ( 3 ) with a flight guidance computer ( 32 ) is connected or provided. Test stand unit according to one of claims 4 to 7, characterized in that the support device ( 2 ) or that of the carrier device ( 2 ) recorded test piece ( 3 ) an inertial navigation device ( 34 ), which controls the thrust control device ( 30 ) of the test piece ( 3 ) are loaded with inertial navigation signals. Test stand unit according to claim 8, characterized in that the thrust control device ( 30 ) of the test piece ( 3 ) with the simulation device ( 6 ) is electrically conductively connected to the data transmission. Method for simulating the flight behavior of a vehicle with a thrust control device ( 30 ), in particular a transverse thrust control device, provided test pieces ( 3 ), in particular a missile, with a test stand unit according to one of claims 4 to 9, comprising the steps of: a) calculating trajectory data of a trajectory for a flight to be simulated of a thrust control device ( 30 ) ( 3 ) on the basis of predetermined mission data by the simulation computer ( 70 ); b) transmitting the calculated trajectory data from the simulation computer ( 70 ) to a flight guidance computer ( 32 ) connected to the thrust control device ( 30 ) of the test piece ( 3 ) is connected to the data transmission; c) calculating steering commands by the flight guidance computer ( 32 ) based on the received trajectory data and on the position, position and / or movement data of the specimen ( 3 ); d) conversion of the steering commands into control commands for thruster control nozzles ( 30 ) and transferring these positioning commands to the thrust control device ( 30 ). Method according to claim 10, characterized in that by means of the actuator control device ( 60 ) Actuator commands are generated to the actuators ( 6 ) are passed to the DUT from outside ( 3 ) to simulate acting disturbances. Method according to claim 11, characterized in that the actuator commands are generated on the basis of disturbance simulation commands issued by the simulation device ( 7 ) to the actuator control device ( 60 ). Method according to claim 10, 11 or 12, characterized in that the position, position and / or movement data of the test object ( 3 ) from an inertial navigation device ( 34 ) and to the flight guidance computer ( 32 ), wherein the inertial navigation device ( 34 ) Component of the test object ( 3 ) or a carrier device ( 2 ) for the examinee ( 3 ). Method according to one of claims 10 to 13, characterized in that characteristics and performance parameters of the thrust control device ( 30 ), such as the course of forces or moments over time, by means of a measurement data acquisition device ( 8th ) and from a measuring data computer ( 80 ) and as feedback data to the simulation device ( 7 ) to get redirected. A method according to claim 14, characterized in that the measurement data acquisition device ( 8th ) and the simulation device ( 7 ) are time synchronized.

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