KR20160079394A - Desktop based realtime simulation apparatus and method - Google Patents

Abstract

The present invention discloses a method for simulating a real time flight control law at a desktop environment. The purpose of the present invention is to provide a method and an apparatus for realizing real time simulation to enable an engineer or a pilot at a desktop environment consisting of one CPU to perform a real time operation of a HQS real time simulation realizing method which has integrally managed or operated plural CPUs in a multiprocessing method through a scheduler and a timer. A method for simulating a real time flight control law at a desktop environment according to the present invention comprises: a step of loading an MDF (Master Definition File) which defines priorities of inputs/outputs, operating frequencies, and callings of flight control subsystems; a step of aligning the subsystems according to the priority of the callings defined in the MDF; a step of setting up cycles and steps of the respective subsystems using information on the operating frequencies of the subsystems; a step of calculating the implementation number for all subsystem simulations; and a step of determining the simulation sequence of the respective subsystems.

Description

[0001] DESSTOP BASED REALTIME SIMULATION APPARATUS AND METHOD [0002]

The present invention relates to a flight operation simulation apparatus and method, and more particularly, to a real-time simulation apparatus and method that can be utilized in addition to a non-real-time simulation conventionally used without using a plurality of CPUs.

1 is a diagram illustrating an aircraft flight control law design and analysis process.

Referring to FIG. 1, a flight control law of an aircraft starts from a requirement analysis (SUBP-01: Determine HQ Requirements) to design a simulation subsystem model and a control structure (SUBP-02, SUBP-03). Then, the control gain is designed (SUBP-04) and the control law is verified / supplemented by the nonlinear 6-degree-of-freedom simulation (SUBP-05). The process up to this point can be done in a desktop environment.

Then, it is performed through a series of steps to verify real-time maneuverability including engineers and pilots using the HQS (Handling Quality Simulator) (SUBP-06).

Among them, HJS is the most widely used method of maneuverability evaluation method, and it is utilized as an integrated prediction tool due to the development of computer performance and graphic technology. HQS is used to improve the control law to improve the maneuverability and to correct the aircraft model error that was not revealed in the interpretation stage by comparing the actual flight experience with the actual flight experience by participating in the actual pilot. Also, it is used for evaluation of various flight test methods such as reconfiguration flight control law, which is a dangerous item for pilots to evaluate in advance, perform training on maneuver, and verify flight test .

After the simulation in HQS, one flight control rule verification is completed through the ground test (SUBP-07) and the actual flight test (SUBP-08).

FIG. 2 is a diagram illustrating a HQS SILS (Software In the Loop Simulation) environment.

Referring to FIG. 2, the actual flight control computer is not used but represents a SILS environment in which the same control law is processed by software modeling by a host computer 210 (Host Computer).

A host computer 210 with six central processing units (CPUs) provides flight control laws and aircraft models and various subsystems and associated input and output data.

The video mixer 230 adds the terrain database 225 and the forward direction video (HUD) information provided by the image generator 220 to the video output unit 240. The video output unit 240 displays the provided information to the user.

A signal interface unit (SIU) provides the hardware input of the aircraft to the host computer 210 and provides signals to the hardware equipment, such as the initial setpoint and the output of the aircraft modeling module, at the host computer 210.

Among them, the simulation program of the host computer 210 is composed of FORTRAN and C language. The simulation program of the host computer 210 uses the scheduler and the timer to calculate the operating frequency of the subsystem classified into four levels according to the dynamic characteristics of the subsystem Simultaneously, simulation is performed through multiple processing.

3 is a conceptual diagram for explaining the multiprocessing concept of the HQS simulation program.

Referring to FIG. 3, the scheduler can use the information stored in the simulator configuration file, thereby creating a task manager for each CPU and determining a scheduling policy. At this time, a timer can be generated for each CPU, and the execution cycle and the like can be set. The modeling module is loaded on a CPU-by-CPU basis, and the scheduler determines the order of execution of CPU-specific modeling modules. Then, the simulation can be performed in synchronization with a plurality of parallel CPUs (modeling modules).

2, the HQS includes a high performance host computer 210 having a plurality of central processing units (CPUs), an image generator 220, an image mixer 230, an image output device, a signal interlock device 260, And a combination of hardware and software. For the configuration of the environment, considerable development time and manpower input are essential.

Also, since HQS development, it is different from 6-DOF nonlinear simulation environment and HQS operating environment performed on desktop. HQS integration work of control rule developed on desktop and HQS integration test for judgment of problem of integrated control law A separate verification procedure is required. This is a part that generates considerable schedule and cost burdens, which can become a burden when the control law change occasionally occurs like in the initial stage of aircraft development.

It is an object of the present invention to solve the above-mentioned problems and to provide a HQS real-time simulation realization method in which a plurality of CPUs are integratedly managed / operated by a multi-processing method using a scheduler and a timer, And to provide a method and apparatus for implementing real-time simulation to enable real-time simulation.

In order to achieve the above object, a method for real-time flight control law simulation in a desktop environment of the present invention includes loading an MDF (Master Definition File) file defining an input / output, an operation frequency and a call priority of a flight control subsystem , Arranging the subsystems according to the paging priority defined in the MDF file, setting the cycle and step of each subsystem using operating frequency information of the subsystem, calculating the number of executions for all subsystem simulations And determining the order of each subsystem simulation.

The real-time flight control law simulation method may further include receiving a steering signal from a flight control interface.

The period represents the frequency of the fastest subsystem, and the step may represent a value obtained by dividing the fastest subsystem frequency by the slowest subsystem frequency.

The step of determining each subsystem simulation sequence may include calculating the timing of a particular subsystem in a cycle by computing a current step value and the fastest subsystem frequency.

The real-time flight control law simulation method includes a step of performing a real-time simulation according to the determined order, a time calculation after numerical calculation using a simulation timer for real-time control, and, if the simulation is completed within a set time, So as to cause the mobile terminal to slip.

According to an aspect of the present invention, there is provided an apparatus for simulating a real-time flight control law in a desktop environment, the system comprising: a loader for loading an MDF (Master Definition File) file defining an input / output, A file loading unit, an arranging unit for arranging the subsystems according to the paging priority defined in the MDF file, a period setting unit for setting periods and steps of each subsystem using operating frequency information of the subsystems, An execution count calculation unit for calculating the number of executions for system simulation, and a simulation order determination unit for determining each subsystem simulation order.

The apparatus for real-time flight control law simulation may further include a user input unit for receiving a steering signal from a flight control interface.

The period represents the frequency of the fastest subsystem, and the step may represent a value obtained by dividing the fastest subsystem frequency by the slowest subsystem frequency.

The simulation order determination unit may calculate the timing of the specific subsystem in one cycle by calculating the current step value and the fastest subsystem frequency.

The apparatus for simulating real-time flight control law may perform real-time simulation according to the determined order, calculate numerical values using a simulation timer for real-time control, check the time, and if simulation is completed within a predetermined time, And a simulation execution unit for causing the subsystem to slip.

According to the desktop-based real-time simulation apparatus and method of the present invention, when utilized as a first-in-first-in-time real-time simulation environment, it is reflected in a 6-DOF nonlinear simulation tool used for developing a flight control law. Therefore, it is effective to reduce the burden of manpower / schedule in the flight control rule development process and to shorten the development period.

In addition, according to the desktop-based real-time simulation apparatus and method of the present invention, it is possible to utilize a mobility based on a simple desktop environment because the system can be constructed at a relatively low cost and can be easily utilized, It is possible to get rid of the spatial constraint of Demonstration of the control law that was possible only.

1 shows a flight control law design and analysis process for an aircraft,
FIG. 2 is a diagram illustrating a HQS SILS (Software In the Loop Simulation)
3 is a conceptual diagram for explaining the multiprocessing concept of the HQS simulation program,
4 is a diagram illustrating an example of six degrees of freedom nonlinear simulation / HQS environment utilization,
5 is a diagram illustrating an example of utilizing a 6-degree-of-freedom nonlinear simulation / HQS environment according to an embodiment of the present invention,
FIG. 6 is a flowchart schematically illustrating a desktop-based real-time simulation method according to an embodiment of the present invention.
FIG. 7 is a detailed flowchart specifically illustrating a simulation order determination process of a desktop-based real-time simulation method according to an embodiment of the present invention;
FIG. 8 is a conceptual diagram for explaining an execution concept of a desktop-based real-time simulation method according to an embodiment of the present invention;
9 is a block diagram schematically illustrating a desktop-based real-time simulation apparatus according to an embodiment of the present invention.
10A and 10B are graphs for comparison of simulation results.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail.

It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

Figure 4 is an illustration of an example of a six degree of freedom nonlinear simulation / HQS environment utilization.

Referring to FIG. 4, linear and nonlinear analyzes are performed in a desktop environment, and analysis through actual simulation is performed in HQS and ETS environments. Simulation can be done in real-time while the pilot manages it directly, and SIFS and HIFS (Hardware In the Loop Simulation) can be performed together. If there is a part that needs to be supplemented by the simulation result, it can be modeled as a new control law by including it in the design requirement.

FIG. 5 is a diagram illustrating an example of utilizing a 6-degree-of-freedom nonlinear simulation / HQS environment environment according to an embodiment of the present invention.

5, a real-time simulation function is added to a 6-degree-of-freedom nonlinear simulation tool operating in a non-real-time manner in order to reduce the burden on the development of an aircraft according to the HQS- Allow the simulation to go back to the desktop. In addition, it can be utilized as an attracting simulation tool such as control law change verification by applying an interface to a user input environment such as a stick / throttle.

In other words, by moving the real-time simulation analysis from the pilot to the desktop environment from the HQS-based environment, all the simulation operations including the 6-DOF nonlinear simulation are performed on the desktop basis. The real-time simulation method according to an embodiment of the present invention adds a basic hardware configuration such as a stick / throttle so that an operation similar to an actual HQS environment is implemented on a desktop, and performs a separate image processing operation according to the performance of a desktop computer implementing real- May be added. Despite these additional equipment, it is possible to construct a system at a relatively low cost, and it is possible to easily utilize a manned simulation environment according to the need of a control law engineer. In addition, Are not required separately to validate control law changes and to continuously remediate improvements in a simple desktop environment.

In addition, the HQS operates by running four to six CPUs in parallel, and each CPU operates with different operating frequencies. In the desktop environment, an environment using one CPU is considered, and one The CPU must handle the operating frequencies of the different subsystems. Therefore, in order to process parallel processing of 4 to 6 CPUs in one CPU in real time, a simulation timer for real-time control may be generated and numerical calculation may be performed, followed by slip processing of each subsystem with respect to the remaining time.

FIG. 6 is a flowchart schematically illustrating a desktop-based real-time simulation method according to an embodiment of the present invention.

Referring to FIG. 6, a real-time simulation apparatus (not shown) first loads an MDF (Master Definition File) file (S610). Here, the real-time simulation apparatus is a computer apparatus such as a desktop PC, and refers to a computing apparatus capable of performing real-time simulation operation in the HQS environment. An MDF file is a file defining a subsystem, and may have an operation frequency, a call priority, a cycle, an input / output interface, and state information of each subsystem. Subsystem refers to the aircraft subsystem.

Then, the simulation order of each subsystem is determined using the information of the subsystem (MDF file), and the real-time simulation characteristics are reflected thereat (S620). That is, it is possible to arrange the subsystems according to the priority, to set the cycle and step of each subsystem to calculate the number of executions, and to determine the order of simulation according to the calculated number of executions. This will be described in more detail with reference to FIG.

FIG. 7 is a detailed flowchart illustrating a procedure of determining a simulation of a desktop-based real-time simulation method according to an embodiment of the present invention.

Referring to FIG. 7, the real-time simulation apparatus can acquire information of the subsystem through the MDF file (S710). The priority information is parsed from the acquired subsystem information and the subsystems are sorted according to the priority (S720).

After arranging the subsystems, the cycle and system for realizing the simulation are set up in real time using the operating frequency information of the subsystem (S730). Here, the period represents the frequency of the slowest subsystem, and the step is a value calculated by dividing the frequency of the fastest subsystem by the frequency of the slowest subsystem. For example, the simulation period can be 64 Hz, where the step can be 8 (steps) since the fastest subsystem frequency is 512 Hz, the calculation of 512 Hz within 64 Hz can be done 8 times. This is a variable created to configure the algorithm so that the computation of the subsystem with the fastest operating frequency over a certain period can be done properly.

After setting the system and the cycle, the real-time simulation apparatus calculates the number of executions of all the subsystems (S740), and determines the order of simulation of each subsystem based on the calculated number of executions (S750).

A total ordering algorithm executed for one cycle is represented by pseudo code as follows.

for (step (8)) than

Timing = current step * Fastest frequency (512)

for (all target subsystems (19)) than

Perform step = Fastest frequency / Frequency of current subsystem

if (step% step == 0) than

Save current timing and subsystem information to SimOrder

end if

end for

end for

Here, the timing of a particular subsystem is determined by the product of the current number of steps and the fastest frequency (e.g., 512 Hz). Also, the step to be performed is calculated by dividing the fastest frequency by the frequency of the specific subsystem, and if the current step is the execution step, the ordering algorithm is terminated by storing the current timing and subsystem information in the simulation order can do.

Returning to FIG. 6, after determining the simulation procedure, the real-time simulation apparatus sets the initial value of the subsystem module (S630). In other words, all subsystems are initialized by setting the initial value of the module.

When the initial value setting is completed, the real-time simulation apparatus loads the database information and initializes the simulation (S640).

Then, a simulation timer for real-time control is generated (S650), and simulation is performed in real time according to the order of the determined subsystem (S660). The real-time simulation apparatus checks the time with a timer even if the simulation using the numerical calculation is completed while performing the simulation. If the simulation is completed within the time set by the user, the real-time simulation apparatus sleeps until a user- This enables the control input to be processed in real time.

The real-time simulation algorithm can be expressed as pseudo code as follows.

Start timer

for (user-set time) than

Estimated time = number of cycles performed * cycle (1/64)

Sleep until the expected time

Start Timer Check

for (subsystem performance factor (60)) than

if (if the timing of the subsystem changes) than

From the point where the timer is checked to the timing time,

end if

Perform Subsystem

end for

end for

Here, one cycle can be performed in 1/64, so knowing how many cycles have been made can predict the execution time in the non-real-time system. The expected time can be calculated as the product of the number of cycles and the cycle.

If the execution time is longer than the expected time, the subsystem can use the sleep for the remaining time until the next set time. When all the subsystems (for example, 60) are executed by the simulation order determination algorithm, one cycle is obtained. Here, while performing 60 subsystems, there may be a change in the timing, which means that one step has to be incremented. Therefore, in such a case, the current time at that time can be checked with a timer for real-time control, and sleep can be used until the timing time. This allows the non-real time simulation to be converted into a real time simulation by repeating the sleep and call operations based on the timer.

In this manner, it is determined whether the simulation end criterion has been reached while real-time simulation is being performed (S670). If the simulation end criterion has been reached, the simulation can be terminated (S680). The end criterion of the simulation can be set to be set to a time and to be terminated upon reaching a specific time. A target value such as a specific cycle, a specific speed, and the like can be set.

FIG. 8 is a conceptual diagram illustrating an execution concept of a desktop-based real-time simulation method according to an embodiment of the present invention.

Referring to FIG. 8, the first left line shows the sampling rate, i.e., the operating frequency, of each subsystem, and the second line shows the execution order of the subsystem. The third line is the identification number of the subsystem, and the fourth line is the name of the subsystem. On the right side, the actual execution time in each step (1/512) is indicated by an arrow, and the sleep time is shown between the end of the arrow and the next step. When the simulation operation is completed before the expected time in one step, the remaining time is slip. Then, in the next step, the operation is resumed in accordance with the simulation procedure. The embodiment of FIG. 8 shows a process in which eight steps are performed in one cycle.

9 is a block diagram schematically illustrating a desktop-based real-time simulation apparatus according to an embodiment of the present invention. 9, a file loading unit 910, an order determining unit 920, a simulation initializing unit 930, a simulation executing unit 940, a timer 950, and a user 950 according to an embodiment of the present invention. Interface 960. < RTI ID = 0.0 >

Referring to FIG. 9, the file loading unit 910 first loads an MDF (Master Definition File) file. The MDF file may be stored in a database (not shown), and the file loading unit 910 loads and parses the MDF file.

The order determination unit 920 uses the subsystem information of the MDF file to determine the simulation order of each subsystem. The order determining unit 920 may include an aligning unit 922, a period / step setting unit 924, an execution count calculating unit 926, and a simulation order determining unit 928. [

The sorting unit 922 sorts the subsystems according to the priority order. The sorting unit 922 obtains the information of the subsystem through the MDF file loaded in the file loading unit 910, parses the priority information from the obtained subsystem information, and sorts the subsystem according to the parsed priority do.

The cycle / step setting unit 924 sets the cycle and step of each subsystem. The cycle / step setting unit 924 sets a cycle and a step for simulation implementation in real time using the operating frequency information of the subsystem. The period represents the frequency of the slowest subsystem, and the step may be a value calculated by dividing the frequency of the fastest subsystem by the frequency of the slowest subsystem.

The execution count calculation unit 926 calculates the execution counts of all the subsystems, and the simulation order determination unit 928 can determine the simulation order of each subsystem based on the calculated execution count information.

Here, the timing of a particular subsystem is determined by the product of the current number of steps and the fastest frequency (e.g., 512 Hz). Also, the step to be performed is calculated by dividing the fastest frequency by the frequency of the specific subsystem, and if the current step is the execution step, the ordering algorithm is terminated by storing the current timing and subsystem information in the simulation order can do.

The simulation initialization unit 930 prepares the initialization of the simulation by setting the initial value of the subsystem module. Then, the simulation initialization unit 930 initializes the simulation by loading the database information.

Then, the simulation performing unit 940 generates a simulation timer 950 for real-time control, and performs simulation in real time according to the order of the determined subsystems. The simulation execution unit 940 checks the time with the timer 950 even if the simulation using the numerical calculation is completed while performing the simulation, and when the simulation is completed within the time set by the user, the simulation execution unit 940 sleeps until the user- So that it can process the image information and the control input delivered to the controller in real time. One cycle can be performed in 1/64, so knowing how many cycles have been run can predict the run time in a non-real-time system. The expected time can be calculated as the product of the number of cycles and the cycle.

If the execution time is longer than the expected time, the subsystem can use the sleep for the remaining time until the next set time. When the operation of all the subsystems (for example, 60) determined by the simulation order determination algorithm is performed, it becomes one cycle. Here, during the execution of 60 subsystems, there may be a change in the timing, which means that one step has to be incremented. In this case, the current time at that time is checked by the timer 950 for real- Of the vehicle.

The simulation performing unit 940 can determine whether the simulation end criterion has been reached while performing the real-time simulation, and can terminate the simulation when it is reached. The end criterion of the simulation can be set to be set to a time and to be terminated upon reaching a specific time. A target value such as a specific cycle, a specific speed, and the like can be set.

The user interface 960 is a stick or throttle, which receives user input for flight control.

10A and 10B are graphs for comparison of simulation results.

Referring to FIGS. 10A and 10B, the present invention is applied to an aircraft 6-degree-of-freedom simulation tool that is actually developed / utilized in the simulation sequencing algorithm and real-time simulation processing algorithm.

Real-time simulation results (solid line), actual HQS real-time simulation results (narrow dashed line), and real-time simulation results (wide dotted line) of the software having the real-time simulation function according to the present invention, It can be seen that the software algorithms with the real-time simulation function according to the present invention are operating properly as the lines representing the three simulation results almost coincide with each other.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions as defined by the following claims It will be understood that various modifications and changes may be made thereto without departing from the spirit and scope of the invention.

Claims (10)

A method for real-time flight control law simulation in a desktop environment,
Loading a Master Definition File (MDF) file defining the input / output, operating frequency and call priority of the flight control subsystem;
Arranging subsystems according to a paging priority defined in the MDF file;
Setting a cycle and a step of each subsystem using operating frequency information of the subsystem;
Calculating an execution frequency for all subsystem simulations; And
And determining the order of each subsystem simulation. ≪ Desc / Clms Page number 21 > The method according to claim 1,
Further comprising receiving a steering signal from a flight control interface. ≪ RTI ID = 0.0 > 11. < / RTI > The method according to claim 1,
Wherein the period represents the frequency of the earliest subsystem and the step represents a value obtained by dividing the earliest subsystem frequency by the slowest subsystem frequency. 4. The method of claim 3, wherein determining each subsystem simulation sequence comprises:
Computing the timing of a particular subsystem in a cycle through computation of a current step value and the fastest subsystem frequency in a desktop environment. The method according to claim 1,
Checking the time after numerical calculation using a simulation timer for real-time control while performing real-time simulation according to the determined order, and if the simulation is completed within a set time, causing the corresponding subsystem to sleep during the remaining time up to the set time Wherein the real-time flight control law simulation method comprises: An apparatus for real-time flight control law simulation in a desktop environment,
A file loading unit for loading an MDF (Master Definition File) file defining input / output, operation frequency and call priority of the flight control subsystem;
An arrangement unit for arranging the subsystems according to the paging priority defined in the MDF file;
A cycle and step setting unit for setting cycles and steps of each subsystem using operation frequency information of the subsystem;
An execution count calculation unit for calculating an execution count for all subsystem simulations; And
And a simulation order determining unit for determining the order of each subsystem simulation. The method according to claim 6,
And a user input unit for receiving the control signal from the flight control interface. The method according to claim 6,
Wherein the period represents the frequency of the earliest subsystem and the step represents a value obtained by dividing the earliest subsystem frequency by the slowest subsystem frequency. The apparatus according to claim 8, wherein the simulation order determination unit
Wherein the timing of a particular subsystem in a cycle is computed by computing the current step value and the fastest subsystem frequency. The method according to claim 6,
A simulation execution unit for checking the time after numerical calculation using a simulation timer for real-time control while performing real-time simulation according to the determined order, and causing the subsystem to sleep during the remaining time up to the set time when the simulation is completed within the set time Time flight control law simulation device.

Images