RU103215U1 - MODELING COMPLEX FOR CHECKING THE UNMANNED AIRCRAFT CONTROL SYSTEM - Google Patents

Abstract

 A modeling system for testing the control system of an unmanned aerial vehicle (UAV), containing a UAV lateral motion modeling device and a UAV longitudinal motion modeling device, which are part of the UAV simulator, steering gear simulator, simulator of the coordinates of the object of observation, simulator of angular velocity sensors, simulator of angle meters , simulator of linear acceleration meters, simulator of wind gusts, simulator of underlying surface, simulator of radio altimeter, device control signal weights, a span control unit, a test results processing device and a test control device, which includes a control panel, a parameter set for the object of observation and a start-up series generating unit, while the first output of the control panel is connected to the start input of the start-up series forming unit, outputs the control panel, on which the signals of the program parameters of the UAV trajectory are generated, are connected to the corresponding inputs of the control signal generation device, and the outputs to which signals of the initial setting of the range and parameters of the relative motion of the object of observation and the UAV are generated — to the corresponding inputs of the simulator of the meter of coordinates of the object of observation, the outputs of which are connected to the corresponding inputs of the device for generating control signals by the signals of the measured elevation and azimuth of the object of observation, and the output according to the signal of the current range of the object observation is connected to the input of the span control unit, the outputs of the longitudinal motion simulation device, on which signals are generated from

Description

The utility model relates to complex modeling devices used in the design and testing of complex control systems for unmanned aerial vehicles.

When designing and testing complex control systems (SU) by unmanned aerial vehicles (UAVs), simulation methods are widely used. An important modeling problem is the provision of the required high accuracy, increasing the reliability of the verification of equipment. Since the main device providing the required quality of the UAV control system is a control signal generation device (or autopilot), the primary task of modeling is to check its algorithms, operation logic, and study the influence of its adjustable parameters on the performance of the entire control system. To reliably verify the processes occurring in the control system equipment, the modeling systems are equipped with specialized devices that provide control according to a given program and control the functioning of the checks, data collection and processing to make decisions about the UAV control system performance.

Known modeling complex for a similar purpose, containing real equipment SU UAV (radar sight, angle and angular velocity sensors, steering mechanisms and a device for generating control signals), simulation equipment, information display devices, control device and calculators. The control device provides the task of the simulation program, management and control of functioning. Simulation equipment allows you to reproduce the impact of the external environment and the radio environment. Models of the control process are implemented in calculators, which ensures the closure of the model [1, Fig. 10.1, p.293].

The disadvantages of the known modeling complex is the excessive complexity in checking and testing the algorithms of the UAV control signal generation device due to the use of a combination of simulators and UAV control system equipment and, as a result, the low accuracy and reliability of the tests, as well as the lack of control and diagnostics when checking the operation of the signal generation device control in the modeling process.

The closest in technical essence analogue adopted as a prototype of the proposed utility model is a system [2] for predicting the results of full-scale tests of an unmanned aerial vehicle, which contains a simulator of an unmanned aerial vehicle, simulators of a radio altimeter, measuring angles and angular velocities, measuring linear acceleration, steering mechanisms, a simulator for measuring the coordinates of the object of observation, as well as a control device, which includes a control panel, steam generator meters of the object of observation and the block forming a series of starts, a device for processing test results and an indicator. In the UAV simulator and the simulator of the coordinate measuring device of the observation object, the initial data are used to generate signals about the position of the UAV and the observation object in space, their relative speeds. In accordance with the received signals, the signals of the measured azimuth angles and the target location of the object of observation are generated in the simulator of the coordinates of the object of observation, which, together with the signals received at the outputs of the angular velocity sensors, angle meters, linear accelerations and the radio altimeter simulator, enter the control signal generation device. The control signal generating device generates control signals for the power drives of the UAV steering mechanisms, which, through the steering mechanisms simulator, go to the corresponding inputs of the unmanned aerial vehicle simulator, closing the control loop of the UAV control system under study. The system stops at the moment of the meeting of the UAV and the observation object, in which the probability calculator of the meeting and the calculator of accuracy (miss) estimates determine the probability of the aircraft getting into the target (observation object), as well as the mean-square deviation, variance and mathematical expectation of the miss value, according to which conclusions about the quality of SU UAV.

The disadvantage of the prototype system is the lack of diagnostics of the operation of the device for generating control signals of an unmanned aerial vehicle during testing.

The quality of the UAV UA is evaluated only by the final result (miss), and intermediate indicators of the functioning of the UAV control signal generation device are not evaluated. In addition, in the prototype system, modeling is carried out separately in the lateral and longitudinal planes, which does not correspond to the normal mode of operation of the control signal generating device and can lead to erroneous verification results.

The technical result of the utility model is to increase the reliability of modeling UAV UAVs through the introduction of control procedures and diagnostics of the complex’s equipment during the simulation process, as well as more complete approximation to the real operating modes of UAV UAVs.

It is known that testing a UAV control system at a modeling complex requires a large test program. The main criteria for assessing the quality of the UAV UA equipment is the accuracy of the UAV guidance on the object of observation and the probability of impact, which are quantified by the magnitude of the miss or span. The span depends on many random factors characterizing the operation of the UAV UA, as well as on the adjustable parameters of the control signal generation device (autopilot). Therefore, in order to increase the reliability of verification at the UAV UA simulator complex, it is proposed to form such a temporary sequence of commands to control the simulator complex, according to which a step-by-step transition of the complex from one state to another is performed and to analyze the correctness of each step.

The proposed complex checks the UAV control system taking into account the impact on the system elements of both external disturbing factors, and taking into account the mutual influence (cross-links) of the longitudinal and lateral control channels on each other, which ensures the functioning of the main control device of the UAV equipment - signal generation device management - in conditions as close to real as possible.

The UA UA accuracy is assessed by the magnitude of the miss (flight of the aircraft past the object of observation) when the initial conditions and initial data are specified multiple times with continuous step-by-step verification of the correct operation.

The introduction of autopilot operation control in a modeling complex of automation in various UAV motion modes can significantly increase the reliability of test results by increasing the volume of tests and at the same time save the resource of real equipment (which is usually limited).

The essence of the utility model lies in the fact that the modeling system for testing the control system of an unmanned aerial vehicle (UAV), containing a UAV lateral motion simulation device and a UAV longitudinal motion simulation device, which are part of the UAV simulator, steering gear simulator, simulator of the measuring instrument of the coordinates of the observation object, simulator of angular velocity sensors, simulator of angle meters, simulator of linear acceleration meters, simulator of wind gusts, simulator of underlying surface a tee, a radio altimeter simulator, a control signal generation device, a span control unit, a test results processing device and a test control device, which include a control panel, a parameter for the object of observation and a unit for generating a series of launches, while the first output of the control panel is connected to the launch input block for the formation of a series of launches, the outputs of the control panel, on which signals of program parameters of the UAV trajectory are generated, are connected to the corresponding inputs of the device the operation of the control signals, and the outputs on which the signals of the initial setting of the range and the parameters of the relative motion of the object of observation and the UAV are generated - to the corresponding inputs of the simulator of the coordinate meter of the object of observation, the outputs of which are connected to the corresponding inputs of the signal generation device by the signals of the measured elevation angles and azimuth of the object of observation control, and the output according to the signal of the current range of the object of observation is connected to the input of the span control unit, the outputs of the simulation device are longitudinal motion signals at which the UAV speed and inclination signals are generated are connected to the corresponding inputs of the simulator for measuring the coordinates of the object under observation, the outputs of the UAV lateral motion simulation device, on which the signals of the rates of roll angle and course change are formed, and the output of the UAV longitudinal motion simulation device, on which the pitch angle change signal is generated, the outputs of the side modeling device are connected to the corresponding inputs of the simulator of the angular velocity sensors of the motion at which the heading and roll angle signals are generated, and the output of the longitudinal motion simulation device, on which the pitch angle signal is generated, are connected to the inputs of the angle meter simulator, the outputs of the UAV lateral and longitudinal motion modeling devices, on which the signals of the corresponding linear acceleration projections are generated UAVs in the earth's coordinate system, connected to the inputs of the simulator of linear acceleration meters, the output of the UAV lateral motion simulation device, on which the signal is generated l lateral deviation of the UAV trajectory, connected to the corresponding inputs of the simulator of the coordinate measuring instrument of the object of observation and the device for processing test results, the output of the device for modeling the longitudinal movement of the UAV, on which the UAV flight altitude signal is generated, is connected to the corresponding inputs of the simulator of the measuring instrument of the coordinates of the object of observation, the device for processing the test results and a simulator of a radio altimeter, the second information input of which is connected to the output of a simulator of the underlying surface, In addition, the outputs of the UAV longitudinal motion simulation device at which signals of the angle of attack, pitch angle, UAV speed and altitude are generated, as well as its input by the UAV roll angle signal are connected to the corresponding inputs and output of the UAV lateral motion simulation device, the output of the wind simulator gusts connected to the corresponding inputs of the UAV lateral and longitudinal motion simulation devices, outputs of the simulator of angular velocity sensors, simulator of angle meters, simulator of linear acceleration meters of the altimeter and the radio altimeter simulator are connected to the corresponding inputs of the control signal generation device, the outputs of which are connected by the elevator, direction and ailerons control signals to the corresponding inputs of the steering gear simulator, the output of the steering gear simulator, on which the elevation angle signal is generated, is connected to the corresponding input UAV longitudinal motion simulation devices, and the outputs on which the signals of the rudder and aileron bookmark angles are formed with the corresponding by the inputs of the UAV lateral motion simulation device, the output of the span control unit, on which the launch end signal is generated, is connected to the corresponding inputs of the test results processing unit and the series of launches, the inputs of which are connected to the corresponding output of the setpoint parameters of the object to be monitored and the outputs of the setter of parameters of the object of observation at which the signal of the height of the radar center of reflection of the object of observation and the signals The object of observation is connected to the corresponding inputs of the device for processing the test results, further comprises an information recording device, a mode setting unit included in the test control device, and a cross-link coefficient calculator included in the UAV simulator, while the corresponding inputs of the information recording device are connected with the outputs of the steering gear simulator, the output of the lateral deviation signal of the UAV trajectory of the lateral motion simulation device I have an UAV and with the output of a UAV flight altitude signal of a UAV longitudinal motion simulation device, in addition, the mode setting unit contains a cyclogram and computing operation clock adjuster, three matching units and a timer, the first input of which is connected to the output of the start series formation unit, and the second to the output of the cyclogram master and the clock of computational operations, on which the signal of the cyclogram job is generated, the third timer input and the second are connected to the clock output of the cyclogram master and the clock of computational operations the inputs of the first, second and third matching units, the first inputs of which are connected respectively to the first, fourth and fifth outputs of the timer, the second, third and sixth outputs of which are connected respectively to the control inputs of the simulator of wind gusts, the simulator of the underlying surface and the device for generating control signals to the output the first matching unit connected to the control inputs of the devices for modeling the lateral and longitudinal movement of the UAV, the calculator of the coefficients of cross-connections and the simulator and the coordinate measuring instrument of the object under observation, the control inputs of the radio altimeter simulator, the angular velocity sensor simulator, the angular velocity meter simulator and the linear acceleration meter simulator are connected to the output of the second matching unit, the steering input of the steering gear simulator is connected to the output of the third matching unit, the outputs of the cross coefficient calculator are connected to the corresponding inputs UAV lateral and longitudinal motion simulation devices, and cross-coupling coefficient calculator inputs d are connected to outputs of the UAV lateral movement simulation apparatus in which signals are formed sliding and roll angles, and outputs the simulation apparatus of the longitudinal motion, in which the signals are formed of attack and pitch angles, speed and altitude signals UAV flight signal and changes the pitch angle velocity.

In addition, the test result processing device includes a lateral miss rating calculator, a vertical miss rating calculator, a meeting probability calculator, an indicator and a final code counter, the first input of which, as well as the first inputs of the lateral and vertical slip rating calculators and a meeting probability calculator form the input of the processing device test results by the signal of the number of starts in the series, the second inputs of the calculators of estimates of lateral and vertical miss and the calculator of the probability of meeting chi are connected to the output of the final code counter, the control input of which forms the input of the test results processing device by the start end signal, the third inputs of the lateral miss rating calculator and the probability calculator of the meeting form the input of the test results processing device, which receives the UAV lateral deviation signal, the fourth input the meeting probability calculator and the third input of the vertical miss estimation calculator form the input of the test result processing device for which the UAV flight altitude signal is received, the fourth input of the vertical miss estimation calculator forms the input of the test results processing device, to which the height signal of the radar of the reflection object of the observation object is received, and the inputs of the test results processing device to which the signals of the size of the observation object arrive are connected to the inputs with the fifth to eighth calculator of the probability of a meeting, the output of which and the outputs of the calculators of the estimates of lateral and vertical miss are connected to the inputs of the indicator.

Thanks to the introduction of the mode setting unit and a more informative information recording device into the proposed modeling complex, more complete control and diagnostics of the processes of checking the control system of an unmanned aerial vehicle are provided.

The introduction into the UAV simulator of computational units that allow for the calculation of corrections that take into account cross-connections between the longitudinal and lateral motion simulation devices of an unmanned aerial vehicle makes it possible to maximally approximate the testing conditions of an unmanned aerial vehicle control system to real ones and simulate the UAV spatial motion under the influence of disturbances such as wind and underlying surface, which is especially important when studying low-altitude UAV flight modes ), which increases the reliability of verification of the UAV control system.

The invention is illustrated by a further description and drawings, which show:

figure 1 - structural and functional diagram of a modeling complex;

figure 2 is a structural-functional diagram of a simulator measuring the coordinates of the object of observation;

figure 3 - structural-functional diagram of a simulator of an aircraft;

figure 4 - structural-functional diagram of a device for processing test results;

5 is a structural and functional diagram of the evaluators of the estimates of lateral and vertical miss;

6 is a structural and functional diagram of a meeting probability calculator;

Fig.7 is a structural-functional diagram of a unit for setting modes;

Fig. 8 is a structural and functional diagram of a test control device;

Fig.9 is a structural-functional diagram of a device for generating control signals;

figure 10 is a structural-functional diagram of the control panel.

Figure 1 structural and functional diagrams of the modeling complex are indicated:

1 - simulator measuring the coordinates of the object of observation;

2 - simulator of an unmanned aerial vehicle;

3 - span control block;

4 - information recording device;

5 - device for processing test results;

6 - unit for setting modes;

7 - test control device;

8 - block forming a series of starts;

9 - parameter setter of the object of observation;

10 - control panel;

11 - simulator of wind gusts;

12 - simulator of a radio altimeter;

13 - simulator of the underlying surface;

14 - a steering gear simulator;

15 - simulator of angular velocity sensors;

16 - simulator of the angle meter;

17 - simulator of a linear acceleration meter;

18 is a device for generating control signals.

According to figure 1, the test control device 7 includes a mode setting unit 6, a series of start-up units 8, a setter 9 of the parameters of the monitoring object, and a control panel 10.

The first output of the control panel 10, on which the start signal of the complex is generated, is connected to the third input (start) of the start-up block 8, the first input of which, connected to the first input of the test result processing device 5, is connected to the output of the span control unit 3, on which the start end signal is generated, the output of the start-up series forming unit 8 is connected to the input of the mode setting unit 6, its second input connected to the fourth input of the test results processing device 5 is connected to the first output the sensor 9 of the parameters of the observation object, on which the signal of the number of starts in the series of launches is generated, and the second output and outputs from the third to the fifth sensor 9 parameters of the object of observation, on which the signal of the height of the radar center of reflection of the object of observation and the signals of the sizes of the object of observation are connected to the input and inputs from the sixth to the ninth device 5 for processing test results.

The first output of the mode setting unit 6 is connected to the control (first) inputs of the simulator 1 of the coordinates of the object of observation and the simulator 2 of the unmanned aerial vehicle, the second and third outputs are connected to the control inputs of the simulator 11 of the wind gusts and the simulator 13 of the underlying surface, the output of which is connected to the second information the input of the simulator 12 of the radio altimeter. The fifth and sixth outputs of the mode setting unit 6 are connected respectively to the fourth (control) input of the steering gear simulator 14 and the twelfth (control) input of the control signal generation device 18, and the fourth output is connected to the control (third) input of the radio altimeter simulator 12 and with the control simulator inputs 15 angular velocity sensors, a simulator of 16 angle meters and a simulator of 17 linear acceleration meters.

The outputs from the second to fifth control panels 10, on which the signals of the initial setting of the distance of the monitoring object and the parameters of the relative motion of the monitoring object and the UAV are generated, are connected to the inputs from the second to fifth simulator 1 of the measuring instrument of the coordinates of the monitoring object, and the outputs from the sixth to eleventh control panels 10 on which the signals of program parameters of the UAV trajectory are formed are connected to the inputs from the thirteenth to the eighteenth of the control signal generation device 18.

The first, second and third inputs of the control signal generation device 18 are connected to the outputs of the simulator 16 of the angle meters, the fourth, fifth and sixth inputs are connected to the outputs of the simulator of 15 angular velocity sensors, the seventh and eighth inputs are connected to the first and second outputs of the simulator 1 of the coordinate measuring instrument of the observation object on which the signals of the measured azimuth angle ψ _A and elevation angle υ _{A of the} object under observation are formed, the ninth and tenth inputs are connected to the outputs of the simulator 17 linear acceleration meters, and the eleventh input is connected to the output home simulator 12 radio altimeter.

The outputs of the device 18 for generating control signals, on which the signals σ _B , σ _H , σ _{E of the} control of elevators, directions and ailerons are formed, are connected to the first, second and third inputs of the steering gear simulator 14. The first, second and third outputs of the simulator 14 steering mechanisms, which are generated signals δ _B , δ _H , δ _E angles bookmark rudders, directions and ailerons, respectively connected with the third, fourth and fifth inputs of the device 4 for recording information and simulator 2 UAV, and the second input of the UAV simulator 2 is connected to the output of the simulator 11 wind gusts.

The first, second, and third outputs of the UAV simulator 2, on which the signals of _{X X} , ω _Y , and _{Z Z are formed of the} rates of change of the heading angle, roll and pitch of the UAV, are connected to the inputs of the simulator 15 angular velocity sensors, the fourth, fifth and sixth outputs, on which the signals ψ, γ and υ of the UAV heading, roll and pitch angles are generated, connected to the inputs of the simulator 16 angle meters, the ninth and tenth outputs, which generate signals of speed V and the angle θ of the UAV trajectory, connected to the sixth and seventh inputs of the simulator 1 of the meter object coordinates obs measurements, and the eleventh and twelfth outputs, on which the signals α _Y and α _{Z of} linear accelerations of the UAV are formed in the earth's coordinate system, are connected to the inputs of the simulator 17 linear acceleration meters.

The seventh output of the UAV simulator 2, on which the UAV flight altitude signal Yg is generated, is connected to the second input of the information recording device 4, the third input of the test results processing device 5, the first information input of the radio altimeter simulator 12 and the ninth input of the observation object coordinate measuring device 1 simulator, third the output of which according to the signal D of the distance of the object of observation is connected to the input of the span control unit 3, and the eighth input connected to the first input of the information recording device 4 and to the second input 5 stroystva processing test results, is connected to the eighth output UAV simulator 2, which is formed Zg signal lateral deviation of the trajectory of the UAV.

The simulator 1 of the coordinate of the object of observation is designed to simulate and generate signals of the angular position of the object of observation relative to the UAV construction axis: - ϑ _A is the measured elevation angle, ψ _A is the measured azimuth angle, which in real equipment is generated by the radar sight of the aircraft control system.

The algorithm of the simulator 1 measuring instrument of the coordinates of the object of observation is described by the well-known system of equations [3, 6]:

Where

D is the current distance (range) to the object of observation; V - UAV flight speed; z _g and y _g - UAV coordinates (lateral deviation and flight altitude) in the normal earth coordinate system; Θ is the angle of inclination of the trajectory; q - set heading angle of the UAV; D _n, V _n and q _n - Asked surveillance object movement parameters (range, velocity, course angle); ψ _A = φ _c and ϑ _A = ε _c are the viewing angles of the object under observation in azimuth and elevation.

The structural diagram of the simulator 1 meter of coordinates of the object of observation that implements the specified algorithm is presented in figure 2, where it is indicated:

19 - timer

20, 21 - calculators of the Cos function,

22 - multiplier,

23 - Cos function calculator,

24, 25 - multipliers,

26 is a divider

27 - adder

28 - divider

29 - integrator

30, 31 - function calculators Sin,

32 is a block of memory.

The first (control) input of the simulator 1 of the measuring instrument of the coordinates of the object of observation is the input of the timer 19, the first and second outputs of which are connected to the first and second inputs of all the computing units 20, ..., 32 of the simulator 1 of the measuring instrument of the coordinates of the object of observation, as shown in Fig.2.

The second input of the simulator 1 (by the signal of the set range of the observation object - D _C ) is the third input of the memory block 32, the output of which is the third output of the simulator 1 of the measuring instrument of the coordinates of the observation object, on which the signal of the current range D of the observation object is generated. The fourth input of the memory unit 32, connected to the fourth input of the divider 26 and the third input of the divider 28, is connected to the output of the integrator 29, the third input of which is connected to the output of the adder 27.

The third input of the adder 27 is connected to the output of the multiplier 24, the third input of which is connected to the sixth input of the simulator 1 (by the signal of the flight speed of the aircraft - V). The fourth input of the adder 27 is connected to the output of the multiplier 22, the third input of which is connected to the third input of the simulator 1 (according to the signal of the set speed of the object of observation - V _C ).

The seventh and fifth inputs of simulator 1 of the measuring instrument of the coordinates of the object of observation (according to the signals of the angle of inclination of the trajectory - θ and the UAV set course angle q) are connected to the third and fourth inputs of multiplier 25 through the calculators 20 and 21 of the Cos function, and the fourth input of simulator 1 (by signal q _{μ of the} set course angle of the object under observation) is connected to the third input of the calculator 23 of the Cos function, the output of which is connected to the fourth input of the multiplier 22.

The eighth and ninth inputs of simulator 1 (by signals Zg and Yg) are connected through dividers 26 and 28 to the third inputs of calculators 31 and 30 of the Sin function, the outputs of which are the first and second outputs of simulator 1, on which the signals ψ _A , ϑ _{A of} the viewing angles are generated object of observation in azimuth and elevation.

Simulator 2 of an unmanned aerial vehicle is designed to generate information about the simulated UAV position in space, its angles of attack and slip, angular and linear speeds.

It is known [3, pp.403-404, 473-474.4] that for most unmanned aerial vehicles, the system of differential equations describing the perturbed movement splits into two groups of equations, one of which describes the change in the parameters of longitudinal movement, and the other - lateral movements between which cross-connections are in effect.

This feature is taken into account when constructing the UAV simulator, which allows to significantly simplify its implementation.

According to figure 2 of the structural-functional diagram of the UAV simulator 2, it includes a device for modeling lateral movement of a UAV, a device 34 for simulating the longitudinal movement of a UAV, and a calculator 35 of cross-coupling coefficients.

The algorithm of the device 33 modeling the lateral movement of the aircraft is described by the following system of equations:

where l is the characteristic size;

ψ, γ, ϑ - UAV heading, roll and pitch angles;

, , C _za , m _x , m _y - aerodynamic characteristics of the UAV;

ω _x , ω _y , ω _z - angular velocity of the UAV;

J _x , J _y , J _xy - the main and centrifugal moments;

β, β _w is the sliding angle and the component of the sliding angle from lateral gusts of wind;

and _z is the acceleration;

α is the angle of attack;

δ _n , δ _B , δ _E - bookmark angles rudders, heights and ailerons;

a (y _g , T (y _g ) and ρ (y _g , T (y _g ), ρ) - the speed of sound and air density, depending on the distribution of air temperature over altitude and pressure at the location of the UAV;

S is the characteristic area;

b _And - the average aerodynamic chord;

g is the acceleration of gravity;

m is the mass of the UAV;

ρ (y _g , V) and m _sec (y _g , V) are the high-speed and throttle characteristics of the marching engine;

ρ = ρ (y _g , T (y _g )),

P _1nc and P _2nc are corrections that take into account the mutual influence of the longitudinal and lateral control channels.

The UAV lateral motion modeling device 33, in which the above dependencies are calculated programmatically or hardware (using multipliers, dividers, adders, quadrators, integrators, etc.), consists of three functional units, namely:

- calculator 36 parameters of the UAV trajectory, in which relations (2.1), (2.2), (2.8) are realized and the value of the sliding angle β is determined (with the correction taking into account gusts of wind) and the value of linear acceleration a _Z ;

- a calculator of 37 UAV angular velocities in which relations (2.3), (2.4), (2.5), (2.6), (2.7) are realized and the values of the rate of change of the roll angles ω _X and the course ω _Y are determined;

- a computer 38 of kinematic relations and coordinate transformations, in which relations (2.9), (2.10), (2.12) are realized and the lateral deviation Zg, and the angles ψ, γ of the heading and roll of the UAV are determined.

The algorithm of the device 34 modeling the longitudinal movement of the aircraft can be described by the following system of equations:

where α _w is the component of the angle of attack from vertical gusts of wind;

and _x and a _y are accelerations;

C _xa , C _ya , m _z — aerodynamic characteristics of the UAV;

g is the acceleration of gravity;

J _z is the moment of inertia of the aircraft;

H - height measured by a radio altimeter;

y _m - the current height of the underlying surface under the aircraft;

P _3n.c. , P _4n.c. - amendments taking into account the mutual influence of the longitudinal and lateral control channels.

A device 34 for simulating the UAV longitudinal motion, software or hardware implementing the indicated relations, consists of a calculator of UAV trajectory parameters, in which the values of the trajectory angle θ (ratio 3.2), flight altitude Yg (ratio 3.9) and angle of attack α (ratio 3.11) are determined ), and the calculator 40 UAV motion parameters, in which the values of the flight altitude V, linear accelerations a _X and a _Y , the pitch angle υ and the pitch angle change rate ω _Z are determined (relations (3.1, 3.3, 3.4, 3.5, 3.8, 3.11 )

The calculator 35 cross-coupling coefficients, which can also be implemented in software or hardware, determines the values of the values of the amendments P _1n.c. , P _2n.c (relations 2.12, 2.14) and P _3n.s. , P _4n.s. (relations 3.12, 3.13).

At the same time, as shown in Fig. 3, the inputs of the timers that are part of the computational units 35, ..., 40 and specify the logical-temporal dependences of the produced computational devices are connected to the first input of the UAV simulator 2 operations.

To the second input of the simulator 2, to which the value of the wind gust signal W is received from the simulator 11 of wind gusts, the corresponding inputs of the calculator 36 of the trajectory parameters of the lateral motion simulation device 33 and the UAV motion parameter calculator 40 of the UAV longitudinal motion parameter simulation device 34 are connected.

The third input of the simulator 2 is formed by the corresponding input of the UAV motion parameters calculator 40 according to the elevator angle signal δ _V , to the fourth input of the simulator 2, which receives the δ _R elevation angle signal, the corresponding inputs of the UAV path calculator 36 and the kinematic calculator 38 are connected ratios, and to the fifth input, which receives the signal of the aileron bookmark angle δ _E , the corresponding input of the calculator of the UAV angular velocity 37 is connected.

The outputs of the computer 35 cross-coupling coefficients, which are formed of the values of the amendments P _1n.s. , P _2n.s , connected to the corresponding inputs of the calculator 38 of the kinematic relations of the device 33 modeling lateral movement, and the outputs on which the values of the corrections P _3n.s. , P _4n.s , connected to the inputs of the calculator 40 of the motion parameters of the device 34 for modeling the longitudinal movement of the UAV.

To the output of the calculator 39 of the UAV trajectory parameters of the UAV longitudinal motion simulation device 34, on which the angle of attack α is formed, the corresponding inputs of the cross-link coefficient calculator 35 are connected, as well as the path parameters calculator 36 and the angular velocity calculator 37 included in the lateral modeling device 33 UAV movements. The output of the calculator 39, on which the UAV trajectory angle θ is formed, forms the tenth output of the UAV simulator 2, and its output, on which the flight altitude Yg is generated, forms the seventh output of the UAV simulator 2 and, in addition, is connected to the corresponding inputs of the calculator 35 the coefficients of cross-connections and the calculator 36 parameters of the trajectory of the device 33 modeling the lateral movement of the UAV.

The outputs of the calculator 40 UAV motion parameters of the UAV longitudinal motion simulation device 34, on which the UAV flight speed V and the projection values a _X and _{Y of the} linear accelerations are generated, are connected to the inputs of the UAV trajectory parameters calculator 39, in addition, the output of the calculator 40 by the signal speed V, forming the ninth output of the UAV simulator 2, is also connected to the corresponding inputs of the calculator 35 cross-coupling coefficients, the calculator 36 parameters of the UAV trajectory and the calculator 38 kinematic relations and coordinate conversion, and the output of the calculator 40 by the signal a _Y forms the eleventh output of the UAV simulator 2.

The outputs of the calculator 40 UAV motion parameters, on which the pitch angle υ and the speed of the pitch angle change ω _Z are formed, form the sixth and third outputs of the UAV simulator 2, respectively, in addition, the output of the calculator 40 is connected to the corresponding inputs of the calculator 35 by the coefficients υ 35 cross-linking and calculator 38 kinematic relationships and coordinate transformation, and the output signal ω _{Z is} connected to the corresponding input of the calculator 35 coefficients of cross-linking.

The output of the calculator 36 of the UAV trajectory parameters of the lateral motion simulation device 33, on which the projection value a _{Z of the} linear acceleration is generated, forms the twelfth output of the UAV simulator 2, and the output on which the slip angle β is formed is connected to the corresponding inputs of the calculator 35 of the cross-connection coefficients, a calculator of 37 UAV angular velocities and a calculator of kinematic relations and coordinate transformation.

The outputs of the angular velocity calculator 37 of the UAV lateral motion simulation device 33, at which the roll angle ω _X and the course angle ω _Y are formed, form the first and second outputs of the UAV simulator 2 and, in addition, are connected to the corresponding inputs of the kinematic relations calculator 38 and coordinate transformation and calculator 36 path parameters.

The output of the kinematic relationship calculator 38 and coordinate transformation, on which the roll angle γ is generated, forms the fifth output of the UAV simulator 2 and, in addition, is connected to the corresponding inputs of the cross-coupling coefficient calculator 35 and the motion parameter calculator 40 of the UAV longitudinal motion simulation device 34.

The span control unit 3 is designed to fix the moment of time when the distance D between the aircraft and the object of observation in the algorithms (1) is 0, which corresponds to the moment of flight of the aircraft above (or below) the object of observation in the vertical plane and to the left or right of the object of observation in the side the plane. At this moment, the output of the launch control unit 3 is formed. Block 3 span control is made in the form of a Schmidt trigger.

The information recording device 4 is intended for visual display of the aircraft trajectory and the main parameters recorded during the simulation - the coordinates of the trajectory and steering deviations - and is, for example, a video terminal complex, on the storage devices of which the accumulation of arrays of values of the recorded parameters is organized with their simultaneous display on the device screen.

The device 5 for processing test results is intended for statistical processing of test results in order to obtain reliable estimates of the lateral and vertical miss values and determine the probability of a UAV meeting an object of observation in a specific series of electronic launches.

The estimates are calculated directly from the output signals of the UAV simulator 2, which are Yg in the vertical plane and Zg in the horizontal plane. For the vertical plane, a correction is introduced for the height above the horizon of the radar center of reflection of the object of observation y _gц . Thus, the misses are equal to:

at D = 0

As estimates of the vertical miss values are accepted:

expected value

dispersion

standard deviation

To evaluate the accuracy of the aircraft equipment in the lateral plane (lateral miss values), the formulas are similar.

The probability of meeting the aircraft and the object of observation during testing is determined as follows. The facts of the aircraft entering the contours of the observation object n _{non are recorded} and the probability of a meeting is determined by the well-known formula:

The test results processing device 5 (see FIG. 4) comprises a final code counter 41, a lateral miss rate estimator 42, a meeting probability calculator 43, a vertical miss rate calculator 44, and an indicator 45.

The first input of the test results processing device 5 (by the start end signal D = 0) is connected to the second (control) input of the final code counter 41, the output of which is connected to the second inputs of the calculators 42 and 44 of the lateral and vertical miss estimates and the probability calculator 43 of the meeting, the first the inputs of which and the first (counting) input of the counter 41 are connected to the fourth input of the test result processing device 5, to which the signal of the number of starts N.

The third inputs of the calculator 42 estimates of the lateral miss and the calculator 44 of the probability of meeting form the second input of the device 5 for processing the test results, which receives the signal Zg of the lateral deviation of the UAV trajectory. To the third input of the test results processing device 5, to which the UAV flight altitude signal Yg is supplied, the fourth input of the meeting probability calculator 43 and the third input of the vertical miss rating estimator 44 are connected, the fourth input of which forms the fifth input of the test results processing device 5 to which the signal is received Ygс of the height of the radar center of reflection of the object of observation.

The inputs from the sixth to the ninth device 5 for processing test results, which receive signals characterizing the dimensions of the object of observation, are connected to the inputs from the fifth to eighth calculator 43 of the probability of a meeting, the output of which by the signal P of the probability of a meeting of the aircraft with the object of observation is connected to the fourth input of the indicator 45 .

The first, second and third outputs of calculators 42 and 44, on which the mathematical expectation signals (Z _OTH and Y _OTH ), dispersion (D _ZOTH , D _YOTH ) and standard deviation (σ _ZOTH , σ _YOTH ) of the lateral and vertical miss values are connected to inputs from the first to third and inputs from the fifth to the seventh indicator 45, respectively.

The counter 41 of the final code is intended for counting the number of launches in a series and issuing a control signal when the start end signal from the span control unit 3 is received at its control (second) input.

The calculators 42 and 44 of the estimates of the lateral and vertical miss are identical in structure (see Fig. 5) and differ in the presence of an additional, fourth, input at the calculator 44 of the estimates of the vertical miss.

Each calculator 42 (44) of the miss estimates contains a control signal generating unit 46, a timer 47, a standard deviation calculator 48, an adder 49, a quadrator 50, a dispersion calculator 51, a memory unit 52, an adder 53, and a scale unit 54.

The input of the control signal generation block 46 is connected to the second input of the miss estimator 42 (44), and the first inputs of the memory block 52, adder 53, scale block 54, and timer 47, respectively, are connected from the first to fourth outputs of it. The second input of the memory block 52, the output of which is directly connected to the second input of the adder 49 and through the adder 53 is connected to the second input of the scale block 54, is connected to the third input of calculators 42, 44 of the miss estimates (signal Zg or Yg). The third input of memory block 52 forms the fourth the input of the calculator 44 estimates of vertical miss (signal Ygts).

The third input of the scale unit 54 and the second inputs of the dispersion calculator 51 and the timer 47 are connected to the first input of the miss estimators 42, 44, to which the signal of the number of starts N is received. The first inputs of the adder 49, the squared 50, are connected to the outputs of the timer 47 from the first to the fourth a variance calculator 51 and a standard deviation calculator 48, respectively.

The third input of the dispersion calculator 51 is connected to the output of the quadrator 50, the second input of which is connected to the output of the adder 49, and the third input is connected to the output of the scale block 54, which is also the first output of the miss estimators 42, 44. The output of the dispersion calculator 51, forming the second output of the slip estimators 42, 44, is also connected to the second input of the standard deviation calculator 48, the output of which forms the third output of the slip estimators 42, 44.

At the outputs of the calculator 42 of the lateral error estimates, the signals of the mathematical expectation values Z _OTN (first output), dispersion D _ZOTN (second output), and standard deviation (σ _ZOTN ) (third output) of the aircraft relative to the observation object in the horizontal plane are _generated , and at the outputs of the calculator 44 vertical miss - similar signals Y _OTH , D _YOTN , σ _YOTN , characterizing a miss in the vertical plane.

The meeting probability calculator 43 (see FIG. 6) comprises a control signal generating unit 55, a comparison unit 56, a memory unit 57, and a division unit 58.

The input of the control signal generating unit 55 is connected to the second input of the meeting probability calculator 43, its first output is connected to the first input of the comparison unit 56, and the second and third outputs are connected to the second inputs of the memory unit 57 and division unit 58, respectively. The third input of the division unit 58 is connected to the first input of the meeting probability calculator 43 (by the signal of the number of starts N), and to the third, fourth and fifth inputs (signals Zg, Yg, Ygц), and the inputs from the sixth to the ninth (signals of the size of the observation object) connected respectively the second, third and fourth inputs and inputs from the fifth to eighth block 56 comparison. The output of the comparison unit 56 is connected to the first input of the memory unit 57, the output of which is connected to the first input of the division unit 58, and the output of the division unit 58, on which the signal of the calculated probability of meeting P is generated, is the output of the meeting probability calculator 43.

The mode setting unit 6 (see Fig. 7), which is part of the test control device 7, contains a timer 59, a setter 60 of cyclograms and a clock of computational operations, and matching units 61, 62, 63.

The first input of the timer 59 is the input of the mode setting unit 6, and its second and third inputs are connected to the second (by the signal specifying the sequence diagram) and the first (by the signal specifying the cycle) setpoint generator 60 of the cyclograms and the cycle of the computational operations made in the form of a controlled voltage distributor . The second inputs of blocks 61, 62 and 63 matching are also connected to the clock output of the setter 60. The first, fourth, and fifth outputs of timer 59 are connected to the first inputs of matching units 61, 62, and 63, respectively. The outputs of the matching blocks 61, 62 and 63 are, respectively, the first, fourth and fifth outputs of the mode setting block 6. The second, third and sixth outputs of the timer 59 form the second, third and sixth outputs of the mode setting unit 6, respectively.

Block 8 forming a series of starts, which is part of the test control device 7 (Fig. 8), contains a signal driver 64, a delay device 65, a key 66, a counter 67, and a signal driver 68.

The third input of the control device 8 (by the start signal) is the input of the signal shaper 68, the output of which is connected to the input of the counter 67, the output of which is connected to the input of the key 66. The second inputs of the key 66 and the counter 67 serve as the first input of the test control device 8 (by the end signal start). The output of the key 66 through the delay device 65 is connected to the driver 64, the output of which is the output of the test control device 8. The third input of the counter 67 is the second input of the test control device 8 (by the signal of the number of starts).

The setter 9 of the parameters of the monitoring object is intended for input into the modeling complex of the overall and radio-technical characteristics of the monitoring object, as well as the number of starts to obtain reliable estimates of the system. The setter 9 of the parameters of the object of observation is a device whose input unit is an analog-to-digital converter, the output of which is connected to the memory blocks. In each memory block, the values of the initial or program values are recorded.

A simulator of 15 angular velocity sensors, a simulator of 16 angle meters and a simulator of 17 linear acceleration meters are designed to simulate the dynamics of real instruments of the aircraft control system under study. They implement well-known transfer functions [3, 4] and are based on software or hardware.

The simulator 12 of the radio altimeter is designed to reproduce the movement conditions of the aircraft above the surface and implements the known transfer function [3, 4]. The input unit of the simulator 12 of the radio altimeter is an adder, the other input of which is connected to the simulator 13 of the underlying surface. The signal supplied to the first input of the adder of the simulator 13 of the radio altimeter, proportional to the signal Yg generated by the simulators 2 of the aircraft, is added to the signal Y _m generated by the simulator 13 of the underlying surface. At the output of the simulator 12 of the radio altimeter, a flight altitude signal is generated above the underlying surface - H (for example, by the sea).

The simulator 13 of the underlying surface and the simulator 11 of wind gusts are random signal generators.

A simulator of 14 steering mechanisms reproduces the dynamics of steering drives that drive the elevators, directions and ailerons. The steering gear simulator 14 comprises a head drive simulator, a roll drive simulator and a pitch drive simulator, the outputs of which are the corresponding outputs of the steering gear simulator 14, and the inputs form the corresponding inputs of the steering gear simulator 14. Drive simulators implement the known transfer functions [6] and are based on software or hardware.

The device 18 generating control signals is designed to generate control signals for steering mechanisms and is a device of the investigated SU LA. The control signal generation device 18 comprises three control channels: elevators, directions, and ailerons, respectively. Algorithms for the formation of control laws for most unmanned aircraft are widely known and have the form [3, p. 78, Fig. 4.4]:

where K _ϑ , K _{ϑ '} , T _z , K _h , T _h , K _sh , K _ny , K _ψ , K _ψ' , T _ψ , K _γ , K _{γ '} , T _{γ are} gear ratios; n _z , n _y , n _{z '} - overloads; δ _np , H _np (t), ϑ ₁ , ψ ₁ - program values of the corresponding parameters that determine the law of motion of the aircraft; a sign (') - signals received from simulators of devices of real equipment of the control system are marked.

where K _ϑy , K _ωz are gear ratios; ϑ _A0 , ϑ ₀ are the essence at the moment of starting the guidance in the “longitudinal problem” on the object of observation; ϑ _np and α _mouth - installation values of the parameters.

where K _ψy - gear ratios; ψ _A0 is a small constant (for example, ψ _A0 = 0.5 deg), ψ ₀ is the course angle at the time of the “lead”.

The structural diagram of the control signal generation device 18 is shown in FIG. 9, where:

69 - timer

70 - adder

71 is a memory block,

72 - differentiator,

73 is a functional block made in the form of a computer in which the relations (5.7) and (5.8) are calculated;

74 - differentiator,

75 - adder

76, 77 - differentiators,

78 - integrator

79 - adder,

80 is a functional block made in the form of a computer in which the relations (5.10), (5.11) and (5.12) are calculated;

81 - adder,

82, 83 - scale blocks,

84 - adder

85 - functional block, made in the form of a computer, in which the calculation of the ratio (5.9);

86, 87, 88 - adders,

89 is a scale block,

90, 91 - adders.

The input of the timer 69 is connected to the twelfth (control) input of the device 18 for generating control signals, and the first inputs of all the units included in the device 18 are connected to the corresponding outputs of the timer. The ninth input of the device 18 is connected to the second input of the adder 88 through a scale block 83, the third input which is connected to the output of the adder 84. The third input of the adder 84 through the function block 85 is connected to the output of the function block 73, and the second input is connected to the sixth input of the function block 73 and connected to the first input CTBA 18 generate control signals.

The seventh, eighteenth, fourteenth, thirteenth and fourth inputs of the device 18 are connected respectively to the inputs from the second to fifth and seventh inputs of the function block 73, and the fifteenth input through the scale block 89 is connected to the seventh input of the adder 88. The fourth input of the adder 88 is connected to the output of the adder 86 , the third input of which is connected to the output of the differentiator 76, the output of which is connected to the second input of the adder 88 and connected to the fourth input of the device 18 for generating control signals.

The sixteenth and eleventh inputs of the control signal generation device 18 are connected respectively to the second input of the adder 70 and the second input of the memory unit 71, the output of which is connected to the third input of the adder 70. The second inputs of the integrator 78 and the adder 87 are directly connected to the output of the adder 70 and, through the differentiator 77 the third input of the adder 87 is connected, and the output of the adder 87 and the output of the integrator 78 are connected respectively to the fifth and sixth inputs of the adder 88, the output of which is the first output of the signal generating device 18 ov control (on the control signal elevator - σ _in ).

The third, fourth and fifth inputs of the function block 80 are connected to the eighth, seventeenth and eighteenth inputs of the control signal generating device 18, the sixth input of which is connected to the second inputs of the adder 81 and the differentiator 74, connected to the fifth input of the control signal generating device 18. The output of the differentiator 74 is connected to the third input of the adder 81, and the output of the functional unit 80 is connected to the third input of the adder 79, the second input of which and the second input of the functional unit 80 are connected to the second input of the control signal generation device 18. The outputs of the adders 79, 81 are connected respectively to the second and third inputs of the adder 90, the fourth input of which is connected through a scale block 82 to the tenth input of the control signal generation device 18, the second output of which (by the rudder control signal, σ _n ) is the output of the adder 90.

The sixth input of the control signal generation device 18 is connected to the second inputs of the adder 75 and the differentiator 72, the output of which is connected to the third input of the adder 75. The output of the adder 75 is connected to the second input of the adder 91, the third input of which is connected to the third input of the control signal generation device 18, and the output forms the third output of the device 18 (according to the aileron control signal, σ _E ).

The control panel 10 (see figure 10), which is part of the test control device 7, contains a start button 92, a potentiometer 93 "initial conditions" and a parameter setter 94 connected to a power source. The output of the button 92 is the first output of the control panel 10, the output of the potentiometer 93 is connected to the input of the parameter setter 94, the outputs of which are outputs from the second to eleventh control panel 10.

Parameter setter 94 is a device, the input unit of which is an analog-to-digital converter, the output of which is connected to memory units. In each memory block, the values of the initial or program values are recorded.

The proposed modeling complex works as follows.

First, in accordance with the simulation program, the complex is set up.

The type of the problem to be solved is selected, for which the engine potentiometer 93 of the control panel 10 is set to the position corresponding to the selected task. At the same time, from the outputs of the memory cells of the setter 94 parameters, signals corresponding to the programmed parameters of the UAV motion path in the algorithms (5) are supplied to the control signal generation device 18, and signals of the initial setting of the distance to the object of observation and relative motion parameters are sent to the simulator 1 of the coordinate of the observation object object of observation and UAV in algorithms (1)

From the setter 9 of parameters of the object of observation, the parameters of the object of observation — the length, height and height of the radar center of reflection of the object of observation, as well as the number of launches in the series of tests sufficient to obtain reliable estimates in the algorithms (4) are introduced into the device 5 for processing the results of the tests. The length and height of the object of observation are introduced as the projection of the contour of the object of observation on a plane perpendicular to the construction axis of the UAV, the lengths to the left, right, up and down relative to the radar center of reflection of the object of observation.

From the master 60 cyclograms and clock cycles of the computing operations of the unit 6 for setting the modes, signals are entered that specify the mode of the simulation. In this case, depending on a priori information (obtained, for example, using mathematical modeling of the UAV UA), either a real-time mode or a "start-stop" mode is set.

In real time, simulators of the modeling complex generate signals that enable the device 18 to generate control signals in the normal mode. In this mode, the operator controls the flow of simulation processes on the screen of the information recording device 4 and evaluates the quality of the UAV control system by the final miss, the calculated values of which are the lateral deviation of the aircraft relative to the observation object and the flight height above (below) it is displayed on the indicator 45 of the processing device 5 test results. The correctness of the simulation processes in the simplest case is visually evaluated on the screen of the device 4 for recording information on the aircraft motion path (parameters Y _g , and Z _g ) and deviations of the aircraft rudders (signals δ _Н δ _В , δ _Э , - bookmark angles of rudders, heights and ailerons), at the same time, their coincidence with the trajectory obtained as a result of mathematical modeling is controlled, as well as the continuity of their graphs (since it is obvious from the physics of the processes of movement of objects that they must be continuous).

In the "start-stop" mode, the modeling complex operates in such a way that one clock cycle of the device 18 for generating control signals corresponds to several clock cycles of the simulators, i.e. unit 6 of the task modes produces such a sequence of commands by which the correct start and stop of all devices of the complex.

A correct stop refers to such an interruption of the modeling process when all operations of solving a system of equations that describe the processes of a particular device of the complex are completed. At the same time, the modeling accuracy is significantly increased, since It is known that by reducing the step of solving equations (increasing the clock cycles of the computing devices of simulators), it is possible to significantly (by an order of magnitude) increase the accuracy of their solution, and, accordingly, significantly increase the accuracy of modeling compared to real-time work. In addition, by slowing down the flow of all processes, it is easier for the operator to control their correctness (for example, comparing them with the mathematical standard). In both modes, the operator can, by issuing a command from the second output of the setter 60 of cyclograms and a clock cycle of computational operations, correctly stop the modeling process, analyze the result and start the process again. In this case, the signal from the first output of the setter 60 (which is set by the operator when setting up the complex) determines the clock cycle of the computing devices of the simulators (slowing down the modeling process).

When you press the button 92 "Start" of the remote control 10, the complex is launched. First, the signal from the first output of the control panel 10 through the shaper 68 in the block 8 of the formation of a series of launches (see Fig. 8) is supplied to the first input of the counter 67, the second and third inputs of which respectively receive a signal from the output of the block 3 flight control (fixing the end of the launch system) and the signal from the first output of the setter 9 parameters of the object of observation (determining the number of starts in the test cycle - N). If the number of system starts is equal to the specified number of starts, the signal at the output of counter 67 will be zero. Since at the first moment they are not equal, the trigger signal from the output of the counter 67 through the key 66, the delay device 65 and the driver 64 is fed to the input of the mode setting unit 6, which sets the sequence operation diagram of the complex.

In block 6 of the mode setting (see Fig. 7), this signal is supplied to the first input of the timer 59, which is started with the frequency specified by the signal supplied to its third input from the first output of the setter 60 of the cyclograms and the clock cycle of the computing operations. At the first and sixth outputs of the controlled timer 59, a sequence of signals appears that determine the sequence diagram of the inclusion and operation of the instruments of the modeling complex.

First, a signal appears at the first output of the timer 59, which is fed to the first input of the matching unit 61, the second input of which receives a signal that determines the tact cycle of solving the system of equations (1) - (3), which describe the movement of the UAV and the object of observation. At the output of the matching unit 61, a code sequence is generated from these two signals, which is received in the simulator 1 of the coordinate meter of the object to be monitored by the input of the controlled timer 19, and in the simulator 2 of the aircraft — to the inputs of the controlled timers included in the computers 35, ..., 40.

In accordance with this signal, signals are generated at the first outputs of the aforementioned timers, which establish the step for solving equations (1) - (3), and then signals appear on the second outputs of the timers that determine the order of solving equations (1) - (3). The signals at the first outputs of these timers are coded and determine the cyclograms of the work of the simulator 1 of the coordinates of the object of observation and devices 33 and 34 modeling the lateral and longitudinal movement of the UAV. The sequences of control signals generated at the second outputs of the timers provide the coordinated execution of all computational operations, taking into account cross-links between the channels of the longitudinal and lateral control of the UAV.

After simulator 1 measuring the coordinates of the object of observation and simulator 2 UAV will complete the solution of equations (1) - (3) in one cycle, the second and third outputs of the timer 59 will receive signals that control the launch of the simulator 11 wind gusts and the simulator 13 of the underlying surface , and on its fourth output, a signal appears that arrives at the first input of the matching unit 62, in which, similarly to block 61, a code sequence is generated that is fed to the control inputs of the simulator 15 of the angular velocity sensors, the simulator 16 erator angles simulator linear acceleration meter 17 and altimeter 12 simulator. The above simulators are also launched on a single clock cycle of solving the algorithms implemented in them.

Then a signal appears on the sixth output of the timer 59, which starts the timer 69 in the control signal generation device 18, which ensures the execution of a hard-set operation sequence diagram of the device 18, consistent with the operation sequence diagram of the UAV UA devices.

The process ends with the appearance of a signal at the fifth output of the timer 59, which, through the matching unit 63, starts the steering gear simulator 14 also by one clock cycle. The signals of the elevation, rudder and aileron rudder bookmark angles from the outputs of the simulator 14 of the steering mechanisms are fed to the corresponding inputs of the UAV simulator 2, closing the modeling loop.

The process described above is repeated many times by the signals generated by the timer 59, and in this way the process of UAV flight and its proximity to the object under observation when exposed to external disturbances (such as, for example, wind gusts and sea waves) is simulated in real time.

In the “start-stop” mode, the cyclogram of the complex’s operation, formed by the timer 59, is organized in such a way that for several cycles of operation of the simulator 1 of the coordinates of the object of observation, simulator 2 of the aircraft, simulator 15 of the sensors of angular velocity, simulator 16 of the angle meter, simulator 17 of the meter of linear acceleration , simulator 12 of the radio altimeter and simulator 14 of steering mechanisms corresponds to one cycle of the device 18 generating control signals and, therefore, the process of simulating the flight of an aircraft and its approach to the object of observation is growing ivaetsya in time, wherein the monitoring device main SU - device 18 generate control signals working in real time, but discretely (i.e. start, stop).

As a result of repeated repetition of the described process, both in real time and in the "start-stop" mode, in simulators 2 and 1, according to the initial data, in accordance with algorithms (1) - (3), signals are generated about the position of the aircraft in space and its relative speed, the current range of the object of observation, as well as the angles ψ _A or υ _{A of the} sight of the object of observation, which are received in the device 18 of the generation of control signals.

Signals proportional to the UAV hull rotation angles, angular velocities and linear accelerations of the UAV hull are calculated taking into account the impact on the UAV of external disturbing factors (wind gusts) and mutual influence (cross-links) between the control channels as a result of the coordinated interaction of the lateral and longitudinal modeling devices 33 and 34 the movement of the aircraft through the arithmetic blocks of the calculator 35, implementing the amendments P _1n.c. , P _2n.s. P _3n.c. , P _4n.c. in algorithms (2) - (3) of the lateral and longitudinal UAV control.

The output signals of heading angles, roll and pitch, rates of change of heading angles and roll and pitch, linear accelerations generated by the simulator 2 of the aircraft are fed to simulators 15, 16 and 17, the output signals of which are fed to the corresponding inputs of the device 18 for generating control signals.

The signal Yg, proportional to the current flight altitude of the aircraft, comes from the UAV simulator 2 to the input of the simulator 12 of the radio altimeter, in which, after summing it with a signal simulating the underlying surface, an H signal is generated, proportional to the current flight altitude of the aircraft above the underlying surface, which enters the device 18 generating control signals.

In the device 18 for generating control signals in accordance with the algorithms (5), signals are generated that control the power drives of the steering mechanisms of the aircraft, which through the simulator 14 of the steering mechanisms enters the simulator 2 of the UAV and is displayed on the screen of the device 4 for recording information.

During the test, the signals characterizing the UAV movement along the trajectory (Yg and Zg) from the 7th and 8th outputs of the simulator 2 aircraft, as well as the signals of the corners of the elevator, direction and ailerons from the outputs of the simulator 14 steering mechanisms are fed to the inputs of the device 4 registration of information for visual control of the aircraft trajectory.

The current range signal from the third output of the simulator 1 is fed to the input of the span control unit 3. At the time of the meeting of the aircraft with the object of observation, when the current range D is equal to zero, the output of the flight control unit 3 will display the end of launch signal, which is fed to the first input of the launch series formation unit 8. The key 66 is triggered by this signal, and the control signal is removed from the output of block 8. In this case, the complex returns to its original state. If the number of starts made is not equal to the number of given starts N and there is a signal at the output of counter 67, then after the system returns to its original state and the key 66 returns to its original state (since the range signal D is not 0), at the output of block 8 formation of a series of starts, a signal appears again, the next start of the complex will occur under the same initial conditions, and the process will be repeated again.

The process of simulating tests of aircraft equipment will continue until the number of launches is equal to the number of given launches N. At this point, the signal at the output of counter 67 disappears and, accordingly, the signal at the output of block 8 of the formation of a series of launches disappears. This completes the series of launches, and the complex goes into the processing mode of the results.

The start end signal also arrives at the second input of the final code counter 41, at the output of which at the moment of the equal number of starts made to the number of given starts N, a signal arrives at the inputs of the control signal generation blocks 46 in the calculators 42 and 44 of the lateral and vertical miss estimates and the input block 55 of the formation of control signals in the calculator 43 of the probability of the meeting (see Fig.4, 5, 6). At this moment, the current value of the aircraft lateral deviation (Zg) is recorded in the memory block 52 of the calculator 42 of the lateral miss rating, the current value of the UAV flight height (Yg) is recorded in the memory block of the calculator 44 of the vertical miss mark 44, and the probability of encounter in the calculator comparison block 56 both of these coordinates are compared with the coordinates of the object being monitored by the setter 9, and then fixed in block 57 of the memory. Further, in calculators 42, 44, accuracy estimates are determined by the formulas (4.1) - (4.5), the values of the mathematical expectation, variance, and standard deviation of the lateral and vertical miss values, and in the calculator 43 of the probability of a meeting, the probability value of falling into target. The calculated values of all the indicated values are displayed on the screen of the indicator 45. At this point, the tests in this series of tests are completed.

Thus, the proposed simulation system for testing the UAV control system provides high accuracy and reliability of tests, the possibility of multiple (hundreds of times) increase in the volume of tests of real UAV equipment, compared with full-scale experiments, and obtaining volumes of data sufficient for statistical processing. This increases the reliability of ground tests with less labor.

The industrial applicability of the utility model is determined by the fact that the proposed modeling complex can be manufactured on the basis of the above description and drawings using well-known components and known technological equipment and used as a modeling complex to verify the control system of an unmanned aerial vehicle.

BIBLIOGRAPHY

1. Shalygin A.S., Palagin Yu.I. Applied methods of statistical modeling. - L .: Engineering, Leningrad. Branch, 1986.

2. RF patent №2163732, IPC G06G 7/72, G09B 9/08, publication 02.27.2001, prototype.

3. Lebedev A.A., Chernobrovkin A.S. Flight Dynamics, Oborongiz, M., 1962 p. 40-40-404, 473-474.

4. Kuzovkov N.G. Aircraft stabilization system (ballistic and anti-aircraft missiles). M .: Higher school, 1976

5. Handbook of electronics. Under the total. ed. A.A. Kulikovsky. t.3. M., Energy, 1970 p. 558-565.

6. Gamynin N.S. Hydraulic drive control systems. M., Mechanical Engineering, 1976, p. 11, Fig. 4.

Claims (1)

A modeling system for testing the control system of an unmanned aerial vehicle (UAV), containing a UAV lateral motion modeling device and a UAV longitudinal motion modeling device, which are part of the UAV simulator, steering gear simulator, simulator of the coordinates of the object of observation, simulator of angular velocity sensors, simulator of angle meters , simulator of linear acceleration meters, simulator of wind gusts, simulator of underlying surface, simulator of radio altimeter, device control signal weights, a span control unit, a test results processing device and a test control device, which includes a control panel, a parameter set for the object of observation and a start-up series generating unit, while the first output of the control panel is connected to the start input of the start-up series forming unit, outputs the control panel, on which the signals of the program parameters of the UAV trajectory are generated, are connected to the corresponding inputs of the control signal generation device, and the outputs to which signals of the initial setting of the range and parameters of the relative motion of the object of observation and the UAV are generated — to the corresponding inputs of the simulator of the measuring instrument of the coordinates of the object of observation, the outputs of which are connected to the corresponding inputs of the device for generating control signals by the signals of the measured elevation and azimuth of the object of observation, and the output according to the signal of the current range of the object observation is connected to the input of the span control unit, the outputs of the longitudinal motion simulation device, on which signals are generated from the UAV trajectory angle and inclination angle, connected to the corresponding inputs of the monitoring object coordinate simulator simulator, the outputs of the UAV lateral motion simulation device, on which the roll angle and heading angle velocity signals are generated, and the UAV longitudinal motion simulation device output, on which the angle change velocity signal is generated pitch, connected to the corresponding inputs of the simulator of angular velocity sensors, the outputs of the lateral motion simulation device, on which signals are generated at the heading and roll head, and the output of the longitudinal motion simulation device, on which the pitch angle signal is generated, are connected to the inputs of the angle meter simulator, the outputs of the UAV lateral and longitudinal motion simulation devices, on which the signals of the corresponding projections of the UAV linear accelerations in the earth coordinate system are formed, are connected with the inputs of the simulator of linear acceleration meters, the output of the UAV lateral motion simulation device, on which the signal of the lateral deviation of the UAV trajectory is formed, with the corresponding inputs of the simulator for measuring the coordinates of the object of observation and the device for processing the test results, the output of the device for modeling the longitudinal movement of the UAV, on which the UAV flight height signal is generated, is connected to the corresponding inputs of the simulator for measuring the coordinates of the object of observation, the device for processing the results of the tests and the simulator of the radio altimeter, the second information input which is connected to the output of the simulator of the underlying surface, in addition, the outputs of the simulator the UAV’s motion, at which the signals of the angle of attack, pitch angle, UAV speed and altitude, as well as its input by the UAV roll angle signal, are connected to the corresponding inputs and output of the UAV lateral motion simulation device, the output of the wind gust simulator is connected to the corresponding inputs of the UAVs modeling of lateral and longitudinal UAV motion, the outputs of the simulator of angular velocity sensors, the simulator of angle meters, the simulator of linear acceleration meters and the simulator of a radio altimeter are connected to the corresponding inputs of the device for generating control signals, the outputs of which are controlled by the elevators, direction and ailerons signals and are connected to the corresponding inputs of the steering simulator, the output of the steering simulators, on which the elevation angle signal is generated, is connected to the corresponding input of the UAV longitudinal motion simulation device, and the outputs on which the signals of the angles of laying the rudder and ailerons are formed with the corresponding inputs of the lateral modeling device UAV navigation, the output of the span control unit, on which the start end signal is generated, is connected to the corresponding inputs of the test results processing unit and the series of launches, the inputs of which are connected to the corresponding output of the setpoint monitor of the object of observation, and the outputs of the setter of parameters the observation object, on which the height signal of the radar center of reflection of the observation object and the size signals of the observation object are formed, are connected the corresponding inputs of the device for processing test results, characterized in that it further comprises an information recording device, a mode setting unit included in the test control device, and a cross-link coefficient calculator included in the UAV simulator, the corresponding inputs of the information recording device being connected to the outputs simulator steering mechanisms, the output signal of the lateral deviation of the UAV trajectory of the device for modeling the lateral movement of the UAV and with the signal output the UAV flight altitude of the UAV longitudinal motion simulation device, in addition, the mode setting unit contains a cyclogram and computing clock, three matching units and a timer, the first input of which is connected to the output of the series of launches, and the second to the output of the cyclogram and computing clock the operations on which the signal of the cyclogram job is generated, the third timer input and the second inputs of the first, second, and t are connected to the clock output of the cyclogram master and the clock of the computational operations of the matching blocks, the first inputs of which are connected respectively to the first, fourth and fifth outputs of the timer, the second, third and sixth outputs of which are connected to the control inputs of a simulator of wind gusts, a simulator of the underlying surface and a device for generating control signals, respectively, connected to the output of the first matching block control inputs of UAV lateral and longitudinal motion simulation devices, a cross-link coefficient calculator, and an object coordinate meter simulator that observation, to the output of the second matching unit are connected the control inputs of the simulator of a radio altimeter, simulator of angular velocity sensors, a simulator of angle meters and a simulator of linear acceleration meters, the control input of a steering gear simulator is connected to the output of the third matching unit, the outputs of the cross coefficient calculator are connected to the corresponding inputs of modeling devices lateral and longitudinal movement of the UAV, and the inputs of the calculator of the coefficients of cross-connections are connected to the outputs three UAV lateral motion modeling devices, on which slip and roll angle signals are generated, and with the outputs of the longitudinal movement simulation device, on which the attack and pitch angle signals, UAV speed and flight altitude signals, and pitch angle change speed signal are generated.