RU2767712C1 - Complex for semi-natural simulation of movement of aircraft destruction means - Google Patents

Abstract

FIELD: weapons.

SUBSTANCE: invention relates to the field of rocket technology, in particular to the field of development of automatic control systems for aircraft weapons (ACS ACW). Technical result is achieved due to the fact that in the proposed system for semi-natural simulation of the movement of an aircraft weapon (ACS), the procedures for monitoring compliance of the results of the operation of the analysed reference model of the ACS ACW are implemented, quality control procedures of operability of real measuring devices, providing measurement of coordinates of the object of observation, angular velocities, angles, linear accelerations included in the ACS ACW, division of the ACS (ACS simulator) motion model into a variable part depending on the specific ACS, and invariable, describing physical processes of ACS flight dynamics in the Earth's atmosphere. Disclosed invention enables to reproduce the effect on the sensor equipment of the automatic control system of the automatic control system.

EFFECT: higher validity of simulation and faster development of ACS ACW.

1 cl, 3 dwg

Description

The invention relates to the field of rocket technology, in particular to the field of development of automatic control systems for aircraft weapons of destruction (ACS ASP).

When designing and testing a complex ACS ASP, various modeling methods are widely used. In particular, mathematical modeling of the movement of an aircraft weapon (ASP) is carried out in order to develop and debug algorithms for an automatic control system. An important problem of modeling is to ensure the required accuracy, increase the reliability of testing samples of ASP components. Since the main device that provides the required quality of APS control is the ACS ACS, as a device for generating control signals, containing measuring devices and a unit for generating deviation commands by aerodynamic / gas-dynamic controls, the primary task of modeling is its verification. In order to ensure its verification, methods of semi-natural (or semi-physical) modeling are resorted to, in which the mathematical model of the components of the ASP is replaced by samples of the components of the ASP.

The closest to the claimed complex of semi-natural motion simulation of the ASP in terms of technical essence and the achieved result is a modeling complex for testing the control system of an unmanned aerial vehicle (UAV) (RF patent No. composition of the UAV simulator, steering gear simulator, simulator of the coordinate meter of the object of observation, simulator of the angular velocity sensors, simulator of the angle meters, simulator of the linear acceleration meters, wind gust simulator, underlying surface simulator, radio altimeter simulator, control signal generation device, test control device, in the composition which includes a control panel, a parameterizer of the object of observation and a block for forming a series of launches.

The disadvantages of the prototype are the impossibility of carrying out operational adjustment of the algorithms of the device for generating control signals, the insufficient reliability of modeling the automatic control system of the UAV, which consists in the fact that the measuring devices that provide measurement of the coordinates of the object of observation, angular velocities, angles, linear accelerations are not tested, because . they are replaced by simulators, and, as a result, the low accuracy and reliability of tests, as well as the lack of control and diagnostics when checking the functioning of the device for generating control signals in the simulation process.

The aim of the invention is to optimize the processes of debugging, tuning and testing ACS ASP.

The technical result of the present invention is to increase the reliability of modeling and reduce the development time for ACS ASP. The technical result is achieved due to the fact that in the complex of semi-natural simulation of the movement of the ASP, containing devices for simulating the lateral movement of the ASP and simulating the longitudinal movement of the ASP, which are part of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP 8 (see Fig. 1, where the numbers large print designate the blocks, and small print numbers indicate the inputs and outputs of the blocks, if necessary), the target movement calculation unit 10, simulators of wind gusts and the underlying surface, which are part of the block of mathematical modeling of the environment 9, which are part of the flight dynamics simulation unit ASP 3, steering mechanisms simulators forming a block for modeling executive bodies 5, a registration block 13, a calculation block for the reference ACS ASP 7, containing a simulator of a target coordinate meter, a simulator of angular velocity sensors, a simulator of angle meters, a simulator of linear acceleration meters, a device for generating control signals included in the system having added the ASP 2 modeling block, additionally introduced a block for calculating the kinematic equations of the mutual motion of the ASP and the target 11, a block for modeling the propulsion system 4, a block for modeling aerodynamic characteristics 6, the investigated ACS ASP 12, containing a real device for measuring the coordinates of the target, angular velocity sensors, angle meters, linear acceleration meters, a device for generating control signals, while the input of the block for modeling the propulsion system 4 is connected to the first output of the block for modeling the executive bodies 5, the output of the block for modeling the propulsion system 4 is connected to the second input of the block for calculating the equations of translational and rotational motion of the center of mass ASP 8, the input the executive bodies modeling block 5 is connected to the first output of the automatic control system ASP 12 and to the fourth input of the registration block 13, the second output of the executive bodies modeling block 5 is connected to the third input of the aerodynamic characteristics modeling block 6, the first input of the block simulation of aerodynamic characteristics 6 is connected to the second output of ACS ASP 12 and to the third input of the registration unit 13, the second input of the block for modeling aerodynamic characteristics 6 is connected to the output of the block for mathematical modeling of the environment 9, the output of the block for modeling aerodynamic characteristics 6 is connected to the first input of the block for calculating translational equations and rotational motion of the center of mass ASP 8, the first output of the block for calculating the equations of translational and rotational motion of the center of mass ASP 8 is connected to the input of the block for mathematical modeling of the environment 9, the second output of the block for calculating the equations of translational and rotational motion of the center of mass ASP 8 is connected to the second input of the automatic control system ASP 12 and with the second input of the block for calculating the reference ACS ASP 7, the third output of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP 8 is connected to the first input of the block for calculating the kinematic equations of the mutual motion of the ASP and the target 11, the second input bl The window for calculating the kinematic equations of the mutual motion of the ASP and the target 11 is connected to the output of the block for calculating the movement of the target 10, the output of the block for calculating the kinematic equations of the mutual motion of the ASP and the target 11 is connected to the first input of the ACS ASP 12 and to the first input of the calculation unit of the reference ACS ASP 7, the first and the second inputs of the registration unit 13 are connected to the first and second outputs of the calculation unit of the reference ACS ASP 7, respectively.

Thus, the technical result is achieved through the introduction of a procedure for monitoring the compliance of the results of the work of the investigated (SAU ASP 12) with the reference model of ACS ASP (calculation unit of the reference ACS ASP 7), the introduction of a quality control procedure for the performance of real measuring devices (simulation unit ASP 2), providing measuring the coordinates of the object of observation, angular velocities, angles, linear accelerations that are part of the ADS ACS, dividing the ARS motion model (AFS simulator) into a variable part that depends on a specific ARS (ATS 12 ACS) and unchanged (ATS 1 motion model) that describes physical processes of ASP flight dynamics (ATS 2 simulation block) in the Earth's atmosphere (ATS 3 flight dynamics simulation block). The present invention allows you to reproduce the impact on the sensor equipment that is part of the ASP (SAU ASP 12) since. there is a connection between the block for calculating the equations of translational and rotational motion of the center of mass ASP 8 and ACS ASP 12, which increases the reliability of the simulation of the automatic control system.

The essence of the proposed technical solutions is illustrated by graphic materials:

in FIG. Figure 1 shows a structural-functional diagram of the complex for semi-natural simulation of the movement of the ASP.

in FIG. 2 shows a block diagram of the ASP motion model program.

in FIG. 3 shows a variant of the technical implementation of the ASP movement model.

In FIG. 1 marked:

1 - ASP movement model;

2 - ASP modeling block;

3 - ASP flight dynamics simulation block;

4 - Block for modeling the propulsion system;

5 - Block modeling executive bodies;

6 - Block for modeling aerodynamic characteristics;

7 - Calculation block of the reference ACS ASP;

8 - Block for calculating the equations of translational and rotational motion of the center of mass of the ASP;

9 - block of the mathematical model of the environment;

10 - Block for calculating the movement of the target;

11 - Block for calculating the kinematic equations of the mutual motion of the ASP and the target;

12-self-propelled guns ASP;

13 - Registration block.

In accordance with FIG. 1, the ASP movement model 1 consists of a formalized description of the propulsion system modeling block 4, which provides the calculation and formation of the vector of forces and moments acting on the center of mass of the ASP from the side of the ASP propulsion system. A real ASP may have several stages of the propulsion system, and the propulsion system can also be controlled (in terms of thrust level, for example, a turbojet propulsion system and / or the direction of orientation of the thrust vector relative to the ASP body, for example, a propulsion system with a rotary nozzle), so the propulsion system simulation unit 4 has an input control signal coming from ACS ASP 12 to the block for modeling executive bodies 5, and only then to the block for modeling the propulsion system 4. in the propulsion system of the ASP, the process of fuel combustion occurs, then the formalized description of the simulation unit of the propulsion system 4 also provides the calculation of the mass-centering and inertial characteristics of the ASP, namely: the change in the mass of the ASP over time; change in the position of the center of mass of the ASP with time; change in the ASP inertia tensor with time. These data are necessary to solve the equations of flight dynamics in the block for calculating the equations of translational and rotational motion of the center of mass of the ASP 8. The block for modeling the executive bodies 5 calculates the change in the position of the executive bodies of the ASP in accordance with the accepted design and layout diagram of the ASP depending on the incoming control signals from the ACS ASP 12. The modeling block of the executive bodies 5 provides the calculation of the deflection of the aerodynamic control surfaces, changes in the angular position of the rotary nozzle (if any), changes in the section of the criticism of the propulsion system (if any), etc. A formalized description of the block for modeling aerodynamic characteristics 6 provides for the calculation and formation of a vector (of three elements) of forces and moments acting on the ASP airframe from the side of the oncoming air flow (from the side of the atmosphere), these data are necessary to solve the equations of flight dynamics in the block for calculating the equations of translational and rotational movement of the center of mass of the ASP 8. The block for calculating the equations of translational and rotational motion of the center of mass of the ASP 8 provides the solution of the equations of the flight dynamics of the ASP, namely: the formation of the resulting vector of forces and moments acting on the ASP based on the vectors from the block for modeling the propulsion system 4 and the block for modeling aerodynamic characteristics 6; calculation of linear accelerations and angular velocities acting on the ASP in inertial space and being the input action on the angular velocity sensors and linear acceleration meters; calculation of ASP angular orientation; calculation of linear velocities of movement of ASP in space; calculation of the coordinates of the ASP position in space according to the well-known equations of the complex dynamics of the motion of a body in the Earth's gravitational field (see [1, 2]). The block of the mathematical model of the environment 9, in accordance with the position coordinates of the ASP, calculates the parameters of the atmosphere for the block for modeling aerodynamic characteristics 6, namely: thermodynamic temperature, atmospheric pressure, atmospheric density, sound speed, Mach number, velocity head of the oncoming flow in accordance with [3 ] and the laws of thermodynamics. Formalized description of the block for calculating the movement of the target 10 provides the calculation for the block for calculating the kinematic equations of the mutual movement of the ASP and the target 11 parameters of the movement of the target, namely: the linear velocity of the target; the position of the target in space. The block for calculating the kinematic equations of the mutual motion of the ASD and the target 11 provides the calculation of the parameters of the mutual movement of the ASD and the target, namely: the angles of orientation of the line connecting the ASD and the target relative to the ASD housing; angular velocities of rotation of the line connecting the ASP and the target in inertial space.

ACS ASP 12 is the subject of research by means of a complex of semi-natural simulation of the movement of the ASP, provides the formation of commands for the control block for modeling the executive bodies 5 in order to guide the ASP to the target based on data from the block for calculating the kinematic equations of the mutual motion of the ASP and the target 11 and the block for calculating the equations of translational and rotational motion center of mass ASP 8.

In order to check the quality of the functioning of the ACS ASP 12, the signals received at its input are also duplicated at the input of the calculation unit of the reference ACS ASP 7 for subsequent comparison. The comparison is carried out by comparing the same-name signals of the calculation unit of the reference ACS ASP 7 and ACS ASP 12 in the registration unit 13.

In FIG. Figure 2 shows an enlarged block diagram of the program that provides the calculation and joint operation of the ASP 2 simulation unit and the ASP 3 flight dynamics simulation unit. The principle of operation laid down in the block diagram is as follows:

- element 14 - the inclusion of a complex of semi-natural simulation of the ASP movement;

- element 15 - initial display and initialization of the calculation unit of the reference ACS ASP 7 and ACS ASP 12;

- element 16 - initialization of simulation control flags:

f_PUSK:=0 (start ASP flag),

f_PUSK_0:=0 (value of the f PUSK flag from the previous counting cycle),

f_STOP:=0 (computation completion flag);

- element 17 - organization of an "infinite loop" of the type:

while (1==1)

{

…

};

- element 18 - procedure call (subroutine) for reading the communication bus;

-element 19 - decryption of the data read from the communication bus, in particular the flag f_PUSK;

- element 20 - analysis of the change of the f_PUSK flag from a low logic level to a high one, type construction:

if(f_PUSK=1)&(f_PUSK_0==0)

{

…

} else {

…

}

- element 21 - if the condition in element 20 is true, f_PUSK_0:=1 is assigned (start detected);

- element 22 - if the condition in element 20 is true and after the execution of element 21, a procedure (subroutine) is called to initialize the initial data to calculate the ASP flight dynamics;

- element 23 - checking the conditions for starting the ASP and not finding the complex of semi-natural simulation in the calculation state, type design

while (f_PUSK_0=1)&(f_STOP==0)

{

…

};

- element 24 - if the condition in element 23 is true, the procedure (subroutine) for calculating the ASP 2 simulation block and the ASP 3 flight dynamics simulation block is called;

- element 25 - if the condition in element 23 is true and after the execution of element 24, the procedure (subroutine) for reading/writing the communication bus is called;

- after the execution of elements 24 and 25, the execution returns to element 23;

- element 26 - if the condition is false, element 23 is analyzed for the occurrence of the "calculation stop" event, a construction of the type

if(f_STOP=1)

{

…

};

- element 27 - if the condition is true in element 26, the simulation control flags are initialized, similar to element 16;

- if the condition in element 26 is false or after the execution of element 27, the execution returns to element 17.

The technical implementation of the proposed HIL modeling complex is a computer system consisting of the following equipment (see Fig. 3):

- Computer 28, which provides calculation of the ASP 2 simulation blocks and communication, via the CAN 2.0b data bus and the Ethernet network, of the ASP 2 simulation blocks with the ASP 3 flight dynamics simulation blocks and the ASP 12 ACS;

- Computer 29, which provides the calculation of the ASP 3 flight dynamics simulation unit and communication, via the CAN 2.0b data bus and the Ethernet network, of the ASP 3 flight dynamics simulation units with the ASP 2 simulation units and the ASP 12 ACS;

- console KVM 30 - providing alternate display of the process of functioning of the computer 28 and computer 29, acts as a video signal display device (monitor) and control device (mouse and keyboard) for the corresponding computers;

- Ethernet switch 31 - provides the formation of an Ethernet network for communication between the computer 28 and the computer 29.

Computer 28 and Computer 29 have the following technical characteristics:

- type of processor installed - Intel Core-i7-4770 Haswell 3.4 GHz/S1150;

- type of installed RAM - memory module DDR3 1600 MHz Non-ECC 8 GB 4 pcs.;

- video controller - built into the processor;

- type of installed hard disk -3.5". Hard disk 2Tb/SATA/7200 rpm, server 2 pcs.;

- optical drive - DVD-RW;

- Ethernet controller - Intel i217LM 10/100/1000 Mb/s, Intel I210-AT (PXE, Wol Teaming support);

- PCI slots - 4.

The KVM 30 console must provide the ability to connect at least four computers at the same time.

The Ethernet switch 31 must be a layer II switch to enable simultaneous connection of at least four subscribers and have an exchange rate of at least 1 Gb / s.

As the operating system on the computer 28 and computer 29 can be installed secure real-time operating system (RTOS) "Neutrino" KPDA. 10964-01 or a POSIX compliant QNX 6.5 operating system.

In order to make changes to the source code of programs on the computer 28 and computer 29, it is necessary to use an additional computer 32 - control. Computer 32 is connected to the Ethernet network and, using the development kit for the Neutrino ZOSRV, the programmer remotely corrects the program code.

Computer 32 is also used to quickly make changes to the operation algorithms of ACS ASP 12 by means of in-circuit debugging and programming 33, which reduces the development time for ACS ASP 12 by increasing the efficiency of correcting the program code of ACS ASP 12 directly in the complex of semi-natural simulation of ASP movement.

The complex of semi-natural simulation of the movement of the ASP during checks of the ACS ASP 12 provides high accuracy and reliability of tests, the possibility of multiplying the volume of tests of a real ACS ASP, in comparison with full-scale experiments, increasing the efficiency of correcting the program code of the ACS ASP 12 and obtaining data volumes sufficient for statistical processing. This increases the reliability of ground tests with less labor intensity.

Sources of information.

1. Dmitrievsky A.A. external ballistics. - M.: "Engineering", 1972 - 584 p.

2. Loitsyansky L.G. Theoretical mechanics. Part 1. Kinematics - L.; M.: State. Techn.-theor. Publishing House, 1932. - 288 p.

3. Global reference model of the atmosphere at altitudes from 0 to 100 kilometers for ballistic support of rocket and space practice / S.V. Karasev. - Ministry of Defense of the Russian Federation, 2016 - 98 p.

Claims (1)

A complex for semi-natural simulation of the movement of an aircraft weapon (ASD), containing a device for simulating the lateral movement of the ASD and a device for simulating the longitudinal movement of the ASD, which are part of the block for calculating the equations of translational and rotational movement of the center of mass of the ASD, the block for calculating the movement of the target, simulators of wind gusts and the underlying surface, included in the block of the mathematical model of the environment, forming a block for modeling the flight dynamics of the ASP, simulators of steering mechanisms, forming a block for modeling the executive bodies, a registration unit, a block for calculating the reference automatic control system (ACS) of the ASP, containing a simulator of a target coordinate meter, a simulator of angular velocity sensors , a simulator of angle meters, a simulator of linear acceleration meters, a device for generating control signals, which are part of the ASP simulation block, characterized in that it additionally contains a block for calculating the kinematic equations of mutual d movement of the ASP and the target, a block for modeling a propulsion system, a block for modeling aerodynamic characteristics, an investigated ACS ASP containing a real device for measuring the coordinates of the target, angular velocity sensors, angle meters, linear acceleration meters, a device for generating control signals, while the input of the block for modeling the propulsion system is connected with the first output of the block for modeling the executive bodies, the output of the block for modeling the propulsion system is connected to the second input of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP, the input of the block for modeling the executive bodies is connected to the first output of the ACS under study and to the fourth input of the registration block, the second output of the block modeling of executive bodies is connected to the third input of the block for modeling aerodynamic characteristics, the first input of the block for modeling aerodynamic characteristics is connected to the second output of the investigated ACS ASP and to the third input of the control block simulation, the second input of the block for modeling aerodynamic characteristics is connected to the output of the block for mathematical modeling of the environment, the output of the block for modeling aerodynamic characteristics is connected to the first input of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP, the first output of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP is connected with the input of the block for mathematical modeling of the environment, the second output of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP is connected to the second input of the ACS under study and to the second input of the block for calculating the reference ACS of the ASP, the third output of the block for calculating the equations of translational and rotational motion of the center of mass of the ASP is connected with the first input of the block for calculating the kinematic equations of the mutual motion of the ASP and the target, the second input of the block for calculating the kinematic equations of the mutual motion of the ASP and the target is connected to the output of the block for calculating the movement of the target, the output of the block p When calculating the kinematic equations of the mutual motion of the ASP and the target, it is connected to the first input of the investigated ACS ASA and to the first input of the calculation unit of the reference ACS ASA, the first and second inputs of the registration unit are connected to the first and second outputs of the calculation unit of the reference ACS ASA, respectively.

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