CN102411313B - Satellite flight control closed loop simulation system based on component simulator - Google Patents
Satellite flight control closed loop simulation system based on component simulator Download PDFInfo
- Publication number
- CN102411313B CN102411313B CN 201110363213 CN201110363213A CN102411313B CN 102411313 B CN102411313 B CN 102411313B CN 201110363213 CN201110363213 CN 201110363213 CN 201110363213 A CN201110363213 A CN 201110363213A CN 102411313 B CN102411313 B CN 102411313B
- Authority
- CN
- China
- Prior art keywords
- simulator
- data
- sensor
- actuator
- ethernet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a satellite flight control closed loop simulation system based on a component simulator, which is applied to a system comprising a dynamics simulation server, a sensor simulator, an actuator simulator and a space-borne computer, wherein the formula of data output by the sensor simulator to the space-borne computer is the same as that of data output by a practical sensor to the space-borne computer, and the format of data received by the actuator simulator from the space-borne computer, i.e., the format of data input by an actuator is the same as that of data input by a practical actuator, so that the simulation reliability of the satellite flight control closed loop simulation system can be enhanced effectively; the component simulator is adopted instead of a real physical device, so that the simulation system has the advantages of low cost and low complexity; and meanwhile, the simulation system has the characteristics of high generality, high flexibility and high automatic degree, so that the research period of a satellite can be shortened effectively, and the research cost of the satellite is reduced.
Description
Technical field
The invention belongs to the satellite simulation technical field of measurement and test, be specifically related to a kind of satellite flight control closed loop simulation system based on component simulator.
Background technology
In the aerospace engineering field, because the development cost of satellite is higher, and the running environment of satellite is very complicated abominable, so, generally all need the flight control system of satellite is carried out emulation, thereby the correctness of the conceptual design of the flight control system of verifying satellites, and function and the performance of the flight control system of check satellite.
Usually, the flight control simulation system of satellite can adopt semi-physical simulation and full physical simulation.Wherein, in the full physical simulation system, owing to various actual physical devices directly being accessed the emulation loop, so these actual physical devices can intuitively and effectively be reflected in the result of l-G simulation test on the impact of simulation control subsystem performance, thereby have advantages of that simulation Credibility is higher, but use various actual physical devices directly to increase cost and the complexity of analogue system, thereby limited the range of application of full physical simulation system.In semi-physical system, in hardware participation emulation loop, part hardware adopts again the mode of mathematical simulation simultaneously, that is: semi-physical system combines mathematical simulation and physical simulation, therefore, semi-physical system has low, the simple to operate and simulation Credibility advantages of higher of cost, controls in analogue system at satellite and uses extensively.
in existing semi-physical system, sensor or actuator have following two kinds of access satellites to control the mode of analogue system: (1) is adopted the mode of mathematical simulation to access satellite and is controlled analogue system, that is: utilize computing machine according to the mathematical simulation of correspondence, sensor or actuator to be carried out emulation, but the sensor of the method simulation data or actuator data layout are different from the data layout of sensor or the output of actuator actual physical device, that is: the method does not have the effect that realization is carried out emulation by the mode of operation of actual physical device, thereby affected the confidence level of simulation result.(2) adopt mode in kind to access satellite and control analogue system, that is: real sensor or actuator are directly accessed satellite and control in analogue system, owing to adopting the actual physical device, thereby increased cost and the complexity of analogue system.
Therefore, seek a kind of sensor or actuator of can effectively increasing and control confidence level in analogue system at satellite, do not increase again the cost of analogue system and the method for complexity simultaneously, have important practical significance.
Summary of the invention
defective for the prior art existence, the invention provides a kind of satellite flight control closed loop simulation system based on component simulator, because the data layout of the output of the component simulator that adopts or input is identical with the data layout that inputs or outputs of corresponding actual physical parts, can effectively simulate the function of corresponding actual physical parts, so can effectively improve the simulation Credibility of satellite flight control closed loop simulation system, again due to the component simulator that is that adopts, rather than the actual physical device that adopts, so it is low to have again the analogue system cost, the advantage that complexity is low, also has simultaneously highly versatile, dirigibility is strong, the characteristics that automaticity is high, therefore, can effectively shorten the lead time of satellite, reduce the development cost of satellite.
The technical solution adopted in the present invention is as follows:
The invention provides a kind of satellite flight control closed loop simulation system based on component simulator, be applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer, comprise the following steps:
(1) described dynamics simulation server calculates orbit parameter information and the attitude quaternion information of current satellite according to the satellite dynamics mathematical model that prestores and initial control information with initial control moment information, and this orbit parameter information and attitude quaternion information are sent to described sensor simulator;
(2) described sensor simulator receives described orbit parameter information and attitude quaternion information, and carry out simulation calculation in conjunction with the sensor mathematical model corresponding with described sensor simulator, obtain the analog measurement of described sensor, and the data layout of this analog measurement is converted into the data layout of true measurement, obtain true form analog measurement, and should true form analog measurement send to described spaceborne computer; Wherein, the data layout of described true form analog measurement is the data layout of actual sensor actual output in the real satellite control system;
(3) described spaceborne computer receives described true form analog measurement, and calculate according to the Satellite Targets attitude information that prestores and/or Satellite Targets orbit information and control algolithm, controlled instruction, and this steering order is sent to described actuator simulator; Wherein, the data layout of described steering order is actual actuator actual data layout that receives in the real satellite control system;
(4) described actuator simulator receives described steering order, and the data layout of this steering order is converted into the data layout of simulating steering order, obtain described simulation steering order, then carry out simulation calculation according to described simulation steering order and the mathematical model of the actuator corresponding with described actuator simulator that prestores, obtain new control information and new control moment information, and will this new control information and new control moment information send to described dynamics simulation server;
(5) described dynamics simulation server is with the described new control information that receives and the new described initial control information of control moment information updating and initial control moment information, then repeated execution of steps (1)-(5), until reach default simulation time, finish above-mentioned flow process.
Preferably, described in step (1), the satellite dynamics mathematical model comprises Satellite Attitude Dynamics model and satellite orbit kinetic model.
Preferably, described in step (2), the data layout of analog measurement is the data layout that meets Ethernet protocol; The data layout of described true form analog measurement is the data layout that meets the CAN agreement; Described in step (3), the data layout of steering order is the data layout that meets the CAN agreement, and the data layout of the steering order of simulation described in step (4) is the data layout that meets Ethernet protocol.
Preferably, described sensor simulator comprises: one or more in star sensor simulator, sun sensor simulator, magnetometer simulator, optical fibre gyro simulator, GPS simulator;
Described actuator simulator comprises: one or more in flywheel simulator, magnetic torquer simulator, thruster simulator.
Preferably, described sensor simulator comprises: sensor emulation server and sensor data interface convertor;
Described sensor emulation server is used for: described orbit parameter information and the attitude quaternion information from described dynamics simulation server that will receive are carried out simulation calculation in conjunction with the mathematical model of the sensor corresponding with described sensor simulator that prestores, obtain the analog measurement of described sensor, and this analog measurement is sent to described sensor data interface convertor;
The described analog measurement that described sensor data interface convertor is used for receiving is converted into true form analog measurement, and should true form analog measurement send to described spaceborne computer.
Preferably, described sensor data interface convertor is single or multiple; The data layout that each sensor data interface convertor is used for belonging to the analog measurement of same class sensor is converted into the data layout that data layout that the data layout of true form analog measurement and/or each sensor data interface convertor be used for belonging to the analog measurement of inhomogeneity sensor is converted into true form analog measurement.
Preferably, described actuator simulator comprises: actuator emulation server and actuator data-interface converter;
Described actuator data-interface converter is used for receiving the steering order from described spaceborne computer, and the data layout of this steering order is converted into the data layout of simulating steering order, obtain described simulation steering order, then should simulate steering order and send to described actuator emulation server;
Described actuator emulation server is used for receiving the simulation steering order from described actuator data-interface converter, then carry out simulation calculation according to described simulation steering order and the mathematical model of the described actuator that prestores, obtain new control information and new control moment information, and will this new control information and new control moment information send to described dynamics simulation server.
Preferably, described actuator data-interface converter is single or multiple; The data layout that each actuator data-interface converter is used for belonging to the steering order of same class actuator is converted into the data layout that data layout that the data layout of simulation steering order and/or each actuator data-interface converter be used for belonging to the steering order of inhomogeneity actuator is converted into the simulation steering order.
Preferably, also comprise: data storage server, described data storage server is connected with described spaceborne computer, the described true form analog measurement that described spaceborne computer will receive and the described steering order that calculates send to described data storage server, are stored by described data-carrier store.
Preferably, also comprise: land station's simulator, described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite of this satellite flight control closed loop simulation system transmission, then, draw and the kinematic parameter that shows received described current satellite curve over time; And/or described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed loop simulation system sends, and then, stores and shows that described actuator simulator exports to the information of described emulation server; And/or described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed loop simulation system sends, and then, stores and shows that described sensor simulator exports to the information of described spaceborne computer.
beneficial effect of the present invention is as follows: the satellite flight control closed loop simulation system based on component simulator provided by the invention, the component simulator that adopts is sensor simulator and actuator simulator, because sensor simulator is identical to the data layout of spaceborne computer output with actual sensor to the data layout of spaceborne computer output, and, the data layout from spaceborne computer that the actuator simulator receives, the data layout that is the actuator input is identical with the data layout of actual actuator input, so can effectively improve the simulation Credibility of satellite flight control closed loop simulation system, again due to the component simulator that is that adopts, rather than the actual physical device that adopts, so it is low to have again the analogue system cost, the advantage that complexity is low, also has simultaneously highly versatile, dirigibility is strong, the characteristics that automaticity is high, therefore, can effectively shorten the lead time of satellite, reduce the development cost of satellite.
Description of drawings
A kind of analogue system that Fig. 1 provides for the embodiment of the present invention one is carried out the schematic flow sheet of closed-loop simulation;
The circuit module figure of CPU board in the spaceborne computer that Fig. 2 provides for the embodiment of the present invention one;
The structural representation based on the satellite flight control closed loop simulation system of component simulator that Fig. 3 provides for the embodiment of the present invention two.
Embodiment
Below in conjunction with accompanying drawing, concrete embodiment of the present invention is described.
Embodiment one
The embodiment of the present invention provides a kind of satellite flight control closed loop simulation system based on component simulator, be applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer, as shown in Figure 1, a kind of analogue system that provides for the embodiment of the present invention is carried out the schematic flow sheet of closed-loop simulation, comprises the following steps:
Step 101: described dynamics simulation server calculates orbit parameter information and the attitude quaternion information of current satellite according to the satellite dynamics mathematical model that prestores and initial control information with initial control moment information, and this orbit parameter information and attitude quaternion information are sent to described sensor simulator.
Wherein, described satellite dynamics mathematical model comprises Satellite Attitude Dynamics model and satellite orbit kinetic model.
Sensor simulator comprises: one or more in star sensor simulator, sun sensor simulator, magnetometer simulator, optical fibre gyro simulator, GPS simulator.
In actual emulation was used, the dynamics simulation server can adopt workstation to consist of, and is separately installed with the above operating system of Windows XP x64 version, Visual Studio 6.0 on it with first-class software development environment.
Step 102: described sensor simulator carries out simulation calculation according to the described orbit parameter information that receives and attitude quaternion information with the mathematical model of the sensor corresponding with described sensor simulator that prestores, obtain the analog measurement of described sensor, and the data layout of this analog measurement is converted into the data layout of true measurement, obtain described true form analog measurement, and should true form analog measurement send to described spaceborne computer; Wherein, the data layout of described true form analog measurement is the data layout of actual sensor actual output in the real satellite control system.
In this step, due to after sensor simulator carries out simulation calculation, the data layout of the analog measurement of the sensor that obtains is different from the data layout of the true device output of sensor in the real satellite system, so, in order to improve simulation Credibility, the type of the data layout of device output true in different sensors, the present invention is converted into the data layout of analog measurement the data layout of true measurement.For example: in existing real satellite system, by CAN (Controller Area Network between on-board equipment, controller local area network) bus is carried out data communication, that is to say, on star, the data layout of sensor output is the type of data format that meets the CAN agreement, and in analogue system, the data layout of sensor simulator output is often the Ethernet data form, therefore, can realize the conversion of data layout between analog measurement and true measurement by Ethernet/CAN interface convertor is set.The concrete system of Ethernet/CAN interface convertor is set referring to embodiment two between sensor simulator and spaceborne computer, does not repeat them here.
In addition, in this step, the output data of sensor simulator directly are uploaded to spaceborne computer, and directly to be uploaded to spaceborne computer identical with the output of the true device of sensor in the real satellite control system, thereby improved simulation Credibility.
Step 103: described spaceborne computer receives described true form analog measurement, and calculate according to the Satellite Targets attitude information that prestores and/or Satellite Targets orbit information and control algolithm, controlled instruction, and this steering order is sent to described actuator simulator; Wherein, the data layout of described steering order is actual actuator actual data layout that receives in the real satellite control system.
Wherein, described actuator simulator comprises: one or more in Momentum wheels simulator, magnetic torquer simulator, thruster simulator.
In this step, spaceborne computer is directly exported to steering order the actuator simulator, thereby directly control the action of actuator simulator, this with the real satellite control system in the device between driving relationship identical, and in prior art, at first the steering order of spaceborne computer output need to be transferred to simulation computer, then controls the action of actuator simulator by simulation computer.Therefore, in the present invention, by the direct actuate actuators simulator of spaceborne computer, thereby improved simulation Credibility.
In addition, in this step, spaceborne computer is identical with actual actuator actual data layout that receives in the real satellite control system to the data layout of the steering order of actuator simulator output, thereby has also improved simulation Credibility.
In actual emulation was used, spaceborne computer can be by the employing of six institutes of University of Science and Technology for National Defence exploitation based on the dual CAN bus structure of ARM (Advanced RISC Machines) processor and the computing machine of operation (SuSE) Linux OS.Spaceborne computer by power supply arbitrate plate, communication backplane, cabinet and interface, CPU board forms.Power supply arbitration plate provides spaceborne computing platform required various supply voltages, such as: 5V, 3.3V, 1.8V, 1.5V etc., and contain a two-shipper temperature for control module, be used for accepting the heartbeat signal of slave, and send respectively look-at-me, Restart Signal and Host Identity signal according to the state of two CPU board; Communication backplane is used for the connection of signal between each plate, comprise communicating by letter between CPU board and CPU board, CPU board and power supply arbitration plate, a dual port RAM (Random Access Memory is arranged on backboard, random access memory), the main dual-machine communication of being responsible for guarantees that the data that collect can not lose because of hostdown; CPU board is a complete single board computer, as shown in Figure 2, the circuit module figure of CPU board in the spaceborne computer that provides for the present embodiment, principal character is as follows: the CPU model is AT91RM9200,200MIPS180MHz; PROM (Programmable Read-Only Memory, programmable read only memory) is 32KB; SRAM (StaticRandom Access Memory, static RAM) is 6MB; FLASH is 16MB; Comprise various interface, interface is mainly used in the spaceborne computer platform and controls being connected of platform with other, specifically comprise: RS232 interface, TAG interface, network interface, with the dual CAN bus interface of external device communication etc., also carried out anti-SEL protection to Primary Component in this CPU board; Spaceborne computer also comprises: cabinet, cabinet are used for fixing and install spaceborne computing platform, and specification is: volume: the wide * of long * is high is 186 * 134 * 194mm
3, weight is 1.9kg.The program module of moving on spaceborne computer mainly comprises: satellite orbit control algolithm module, the attitude of satellite are controlled algoritic module, remote measurement and signal procedure module, LINUX operating system and CAN interface routine module.
Step 104: described actuator simulator receives described steering order, and the data layout of this steering order is converted into the data layout of simulating steering order, obtain described simulation steering order, then carry out simulation calculation according to described simulation steering order and the mathematical model of the actuator corresponding with described actuator simulator that prestores, obtain new control information and new control moment information, and will this new control information and new control moment information send to described dynamics simulation server.
Step 105: the described new control information that described dynamics simulation server use receives and the new described initial control information of control moment information updating and initial control moment information, then repeated execution of steps 101-105, until reach default simulation time, finish above-mentioned flow process.
Need to prove, the satellite flight control closed loop simulation system that the present embodiment provides is when carrying out emulation, and analogue system can judge whether to reach default simulation time at any time, if do not reach, repeats simulation process; If reach, process ends.
In addition, the satellite flight control closed loop simulation system that the present embodiment provides also comprises: data storage server, described data storage server is connected with described spaceborne computer, the described true measurement that described spaceborne computer will receive and the described steering order that calculates send to described data storage server, are stored by described data-carrier store.
Concrete, data storage server adopts the PC structure, and its operating system is Windows XPProfessional.Data storage server is connected with spaceborne computer by straight-through RS232 Serial Port Line, the ethernet line that intersects.Set up a hyper terminal on data storage server, start hyper terminal, after giving the spaceborne computer electrifying startup, the running status of spaceborne computer can show on the hyper terminal of data storage server.a software virtual machine is installed on the data storage server machine, the operating system of virtual machine is Red Hat9, virtual machine on log-on data storage server machine, the satellite flight control program good exploitation copies on virtual machine, compiling link flight control program generates an executive routine on virtual machine, this executive routine is copied on the data storage server machine, tftp on log-on data storage server machine (Trivial FileTransfer Protocol, TFTP), adopt tftp that executive routine is downloaded on the flash module of spaceborne computer.
Also comprise: land station's simulator, described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite of this satellite flight control closed loop simulation system transmission, then, draw and the kinematic parameter that shows received described current satellite curve over time; And/or described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed loop simulation system sends, and then, stores and shows that described actuator simulator exports to the information of described emulation server; And/or described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed loop simulation system sends, and then, stores and shows that described sensor simulator exports to the information of described spaceborne computer.
Concrete, land station's simulator connects by Serial Port Line and a wireless network transceiver, from the wireless network transceiver reading out data.In addition, LabView software has been installed on land station's simulator, has been developed a patterned interface with this software, with the time dependent Drawing of Curve of various parameters out.
The analogue system that the present embodiment provides also comprises: CAN turns ethernet device, and CAN turns ethernet device and is specially TNode-232, mainly realizes the interface conversion work that the CAN net is communicated by letter with Ethernet data.The groundwork of this equipment is to complete interface configuration.
Also comprise: wireless network transceiver.Concrete, can use two wireless network transceiver in the closed-loop simulation loop, that is: the first wireless network transceiver and second wireless network transceiver.Wherein, the first wireless network transceiver is used for receiving the data that need to pass to land station's simulator on the CAN bus, then sends to land station's simulator by wireless network; The second wireless network transceiver be used for to receive the data that transmit from the first wireless network transceiver, and with this data transmission to land station's simulator.
Also comprise: high speed switch.Concrete, can adopt the configurable switch of 100M Cisco, be used for realizing the quick exchange of each circuit-switched data.
Also comprise: organize the output DC source more.This power supply can be exported the voltage of different amplitudes, is used for turning ethernet device, Ethernet switch, wireless network transceiver power supply to spaceborne computer, CAN.
In the present embodiment, on the one hand, the measured value that sensor simulator directly obtains simulation calculation sends to spaceborne computer, and spaceborne computer directly sends to the steering order that calculates the actuator simulator, this communication between devices mode is identical with the real satellite control system, thereby has improved simulation Credibility; On the other hand, sensor simulator is identical with the data layout of actual sensor actual output in the real satellite control system to the data layout of the true measurement of spaceborne computer output, and, spaceborne computer is identical with actual actuator actual data layout that receives in the real satellite control system to the data layout of the steering order of actuator simulator output, thereby has further increased simulation Credibility.
Embodiment two
The difference of the present embodiment and embodiment one is, in the satellite flight control closed loop simulation system based on component simulator that the present embodiment provides, sensor simulator comprises: sensor emulation server and sensor data interface convertor, connect sensor emulation server and spaceborne computer by the sensor data interface convertor, the sensor data interface convertor is used for the data layout of communicating by letter between conversion sensor emulation server and spaceborne computer; And the actuator simulator comprises: actuator emulation server and actuator data-interface converter, connect actuator emulation server and spaceborne computer by actuator data-interface converter, actuator data-interface converter is used for the data layout of communicating by letter between conversion actuator emulation server and spaceborne computer.
further, due in existing real satellite system, carry out data communication by the CAN bus between on-board equipment, that is to say, on star, sensor is the type of data format that meets the CAN agreement to the data layout of spaceborne computer output, and spaceborne computer data layout of the actual output of actuator on the star is the type of data format that meets the CAN agreement, therefore, in the satellite flight control closed loop simulation system based on component simulator that the present embodiment provides, the data layout of component simulator output or input describes as an example of the data layout that meets the CAN agreement example.But need to prove; the present invention is not limited thereto; adopt other data layouts when between on-board equipment; for example: when the category-A data layout carries out communication; in analogue system provided by the invention; the data layout of component simulator output or input also can change accordingly, and every situation of this kind conception that meets is all within protection domain of the present invention.
concrete, the satellite flight control closed loop simulation system based on component simulator that the present embodiment provides, be applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer, wherein, sensor simulator comprises: sensor emulation server and sensor data interface convertor, the actuator simulator comprises: actuator emulation server and actuator data-interface converter, again due in existing real satellite system, carry out data communication by the CAN bus between on-board equipment, therefore, in the present embodiment, the Ethernet take the sensor data interface convertor as sensor/CAN data-interface converter, actuator data-interface converter is that actuator Ethernet/CAN data-interface converter is that example describes, as shown in Figure 3, the structural representation based on the satellite flight control closed loop simulation system of component simulator that provides for the embodiment of the present invention two, specifically comprise the following steps:
Step 201, the dynamics simulation server calculates orbit parameter information and the attitude quaternion information of current satellite according to the satellite dynamics mathematical model that prestores and initial control information with initial control moment information, and this orbit parameter information and attitude quaternion information are sent to described sensor simulator.
In the present invention, sensor simulator comprises: sensor emulation server and sensor data interface convertor, so in this step, the dynamics simulation server is that orbit parameter information and attitude quaternion information are sent to sensor emulation server in sensor simulator.
Step 202, the sensor emulation server carries out simulation calculation according to the described orbit parameter information that receives and attitude quaternion information with the mathematical model of the sensor corresponding with described sensor simulator that prestores, obtain the analog measurement of described sensor, and this analog measurement is sent to sensor Ethernet/CAN data-interface converter.
Wherein, in satellite simulation system, the data layout of analog measurement is the data layout that meets Ethernet protocol; And the data layout of true measurement is the data layout that meets the CAN agreement, and therefore, sensor Ethernet/CAN data-interface converter is converted into for the data layout that will meet Ethernet protocol the data layout that meets the CAN agreement.
in addition, due in the real satellite system, sensor can be multiclass, for example: star sensor, sun sensor, magnetometer, optical fibre gyro, one or more in GPS, therefore, in this step, the sensor emulation server is based on the mathematical model of different sensors, can calculate the analog measurement of different sensors, for example: the star sensor analog measurement, the sun sensor analog measurement, the magnetometer analog measurement, the optical fibre gyro analog measurement, GPS analog measurement etc., then these inhomogeneous analog measurement can be sent to same sensor Ethernet/CAN data-interface converter, also can send to respectively corresponding sensor Ethernet/CAN data-interface converter.That is to say, sensor Ethernet provided by the invention/CAN data-interface converter both can be converted into the data layout that meets the CAN agreement with the data layout that meets Ethernet protocol that belongs to the same class sensor, also the data layout that meets Ethernet protocol that belongs to the inhomogeneity sensor can be converted into the data layout that meets the CAN agreement.For convenience of description, the below will meet the data of data layout of Ethernet protocol referred to as Ethernet data, and the data that will meet the data layout of CAN agreement simply are the CAN data.
for example: the sensor emulation server carries out simulation calculation based on the mathematical model of the sun sensor that prestores, obtain the Ethernet data of sun sensor, mathematical model based on the star sensor that prestores is carried out simulation calculation, obtain the Ethernet data of star sensor, the Ethernet data of the Ethernet data of sun sensor and star sensor can send by following dual mode: (one) only arranges a sensor Ethernet/CAN data-interface converter, the Ethernet data of the Ethernet data of sun sensor and star sensor all sends to this sensor Ethernet/CAN data-interface converter, this sensor Ethernet/CAN data-interface converter both was converted into the CAN data with the Ethernet data of sun sensor, while also is converted into the CAN data with the Ethernet data of star sensor.(2) sun sensor Ethernet/CAN data-interface converter and star sensor Ethernet/CAN data-interface converter is set respectively, by sun sensor Ethernet/CAN data-interface converter, the Ethernet data of sun sensor is converted into the CAN data, by star sensor Ethernet/CAN data-interface converter, the Ethernet data of star sensor is converted into the CAN data, but need to prove, sun sensor Ethernet/CAN data-interface converter is identical with the hardware of star sensor Ethernet/CAN data-interface converter, difference only is the difference of transferring content.
Step 203: the described analog measurement that the sensor Ethernet/CAN data-interface converter will receive is converted into true form analog measurement, and should true form analog measurement send to described spaceborne computer.
Concrete, sensor Ethernet/CAN data-interface converter is converted into the CAN data with the Ethernet data that receives, and then these CAN data is sent to spaceborne computer.
Therefore, it is the CAN data that sensor Ethernet/CAN data-interface converter sends to the data of spaceborne computer, and in the real satellite system, sensor is identical to the data layout of spaceborne computer output, thereby has improved simulation Credibility.
Step 204: spaceborne computer receives described true form analog measurement, and calculate according to the Satellite Targets attitude information that prestores and Satellite Targets orbit information and control algolithm, controlled instruction, and this steering order is sent to actuator Ethernet/CAN data-interface converter.
Wherein, spaceborne computer simulation calculation, the steering order that obtains are the steering order that meets the CAN agreement, hereinafter to be referred as the CAN steering order.That is to say, the steering order from spaceborne computer that actuator Ethernet/CAN data-interface converter receives is the CAN steering order, identical with the type of actual actuator actual data layout that receives in the real satellite control system, thus simulation Credibility improved.
With sensor Ethernet/CAN data-interface converter can be for one or more identical, the actuator Ethernet that the present embodiment provides/CAN data-interface converter also can be for one or more.
Concrete, due in the real satellite system, actuator can be multiclass, such as: momenttum wheel, magnetic torquer, thruster etc., therefore, in this step, spaceborne computer is according to the difference of the classification of the actuator that will control, after obtaining the steering order to the inhomogeneity actuator, can send to same actuator Ethernet/CAN data-interface converter, also can send to corresponding actuator Ethernet/CAN data-interface converter.That is to say, actuator Ethernet provided by the invention/CAN data-interface converter both can be converted into the Ethernet steering order with the CAN steering order that belongs to the same class actuator, also the CAN steering order that belongs to the inhomogeneity actuator can be converted into the Ethernet steering order, wherein, the representative of Ethernet steering order meets the steering order of Ethernet protocol.
for example: spaceborne computer is according to the classification of the actuator that will control, obtain to the CAN steering order of magnetic torquer with to the CAN steering order of thruster, can send by following dual mode to the CAN steering order of magnetic torquer with to the CAN steering order of thruster: (one) only arranges an actuator Ethernet/CAN data-interface converter, all send to this actuator Ethernet/CAN data-interface converter to the CAN steering order of magnetic torquer with to the CAN steering order of thruster, both will be converted into the Ethernet steering order to the CAN steering order of magnetic torquer by this actuator Ethernet/CAN data-interface converter, simultaneously also will be converted into the Ethernet steering order to the CAN steering order of thruster.(2) magnetic torquer Ethernet/CAN data-interface converter and thruster Ethernet/CAN data-interface converter is set respectively, to be converted into the Ethernet steering order to the CAN steering order of magnetic torquer by magnetic torquer Ethernet/CAN data-interface converter, to be converted into the Ethernet steering order to the CAN steering order of thruster by thruster Ethernet/CAN data-interface converter, but need to prove, magnetic torquer Ethernet/CAN data-interface converter is identical with the hardware of thruster Ethernet/CAN data-interface converter, difference only is the difference of transferring content.Further, the actuator Ethernet that the present embodiment provides/CAN data-interface converter and sensor Ethernet/CAN data-interface converter can be same hardware device, also can be different hardware devices.
Step 205: actuator Ethernet/CAN data-interface converter receives the CAN steering order from spaceborne computer, and the CAN steering order is converted into the Ethernet steering order, then carry out simulation calculation according to described Ethernet steering order and the mathematical model of the described actuator that prestores, obtain new control information and new control moment information, and will this new control information and new control moment information send to described dynamics simulation server.
Step 206: the described new control information that described dynamics simulation server use receives and the new described initial control information of control moment information updating and initial control moment information, then repeated execution of steps 201-205, until reach default simulation time, finish above-mentioned flow process.
Therefore, in the satellite flight control closed loop simulation system based on component simulator that the present embodiment provides, sensor simulator comprises: sensor emulation server and sensor data interface convertor, wherein, the sensor data interface convertor is sensor Ethernet/CAN data-interface converter, be used for being converted into from the Ethernet data of sensor emulation server the CAN data, and with this CAN data upload to spaceborne computer; And the actuator simulator comprises: actuator emulation server and actuator data-interface converter, wherein, actuator data-interface converter is actuator Ethernet/CAN data-interface converter, be used for and be converted into the Ethernet steering order from the CAN steering order of spaceborne computer, and this Ethernet steering order is uploaded to the actuator emulation server.Therefore, the present embodiment has realized that the data layout that sensor simulator sensor in the data layout of spaceborne computer output and the real satellite system exports is identical, and the data layout that the actuator simulator receives inputs from actuator in the data layout of spaceborne computer and real satellite system is identical, thereby has improved simulation Credibility.
Claims (10)
1. the satellite flight control closed loop simulation system based on component simulator, is characterized in that, is applied to comprise in the system of dynamics simulation server, sensor simulator, actuator simulator and spaceborne computer, comprises the following steps:
(1) described dynamics simulation server calculates orbit parameter information and the attitude quaternion information of current satellite according to the satellite dynamics mathematical model that prestores and initial control information with initial control moment information, and this orbit parameter information and attitude quaternion information are sent to described sensor simulator;
(2) described sensor simulator receives described orbit parameter information and attitude quaternion information, and carry out simulation calculation in conjunction with the sensor mathematical model corresponding with described sensor simulator that prestores, obtain the analog measurement of described sensor, and the data layout of this analog measurement is converted into the data layout of true measurement, obtain true form analog measurement, and should true form analog measurement send to described spaceborne computer; Wherein, the data layout of described true form analog measurement is the data layout of actual sensor actual output in the real satellite control system;
(3) described spaceborne computer receives described true form analog measurement, and calculate according to the Satellite Targets attitude information that prestores and/or Satellite Targets orbit information and control algolithm, controlled instruction, and this steering order is sent to described actuator simulator; Wherein, the data layout of described steering order is actual actuator actual data layout that receives in the real satellite control system;
(4) described actuator simulator receives described steering order, and the data layout of this steering order is converted into the data layout of simulating steering order, obtain described simulation steering order, then carry out simulation calculation according to described simulation steering order and the mathematical model of the actuator corresponding with described actuator simulator that prestores, obtain new control information and new control moment information, and will this new control information and new control moment information send to described dynamics simulation server;
(5) described dynamics simulation server is with the described new control information that receives and the new described initial control information of control moment information updating and initial control moment information, then repeated execution of steps (1)-(5), until reach default simulation time, finish above-mentioned flow process.
2. system according to claim 1, is characterized in that, described in step (1), the satellite dynamics mathematical model comprises Satellite Attitude Dynamics model and satellite orbit kinetic model.
3. system according to claim 1, is characterized in that, described in step (2), the data layout of analog measurement is the data layout that meets Ethernet protocol; The data layout of described true form analog measurement is the data layout that meets the CAN agreement; Described in step (3), the data layout of steering order is the data layout that meets the CAN agreement, and the data layout of the steering order of simulation described in step (4) is the data layout that meets Ethernet protocol.
4. system according to claim 1, is characterized in that, described sensor simulator comprises: one or more in star sensor simulator, sun sensor simulator, magnetometer simulator, optical fibre gyro simulator, GPS simulator;
Described actuator simulator comprises: one or more in flywheel simulator, magnetic torquer simulator, thruster simulator.
5. system according to claim 1, is characterized in that, described sensor simulator comprises: sensor emulation server and sensor Ethernet/CAN data-interface converter;
Described sensor emulation server is used for: described orbit parameter information and the attitude quaternion information from described dynamics simulation server that will receive are carried out simulation calculation in conjunction with the mathematical model of the sensor corresponding with described sensor simulator that prestores, obtain the analog measurement of described sensor, and this analog measurement is sent to described sensor Ethernet/CAN data-interface converter;
Described sensor Ethernet/CAN data-interface converter is converted into for the data layout that will meet Ethernet protocol the data layout that meets the CAN agreement, and these data that meet the data layout of CAN agreement are sent to described spaceborne computer.
6. system according to claim 5, is characterized in that, described sensor Ethernet/CAN data-interface converter is single or multiple; Each sensor Ethernet/CAN data-interface converter is converted into for the data layout that meets Ethernet protocol that will belong to the same class sensor data layout and/or each sensor Ethernet/CAN data-interface converter that meet the CAN agreement and is converted into for the data layout that meets Ethernet protocol that will belong to the inhomogeneity sensor data layout that meets the CAN agreement.
7. system according to claim 1, is characterized in that, described actuator simulator comprises: actuator emulation server and actuator Ethernet/CAN data-interface converter;
Described actuator Ethernet/CAN data-interface converter is used for receiving the CAN steering order from described spaceborne computer, and the data layout of this CAN steering order is converted into the data layout of Ethernet steering order, obtain described Ethernet steering order, then this Ethernet steering order is sent to described actuator emulation server;
Described actuator emulation server is used for receiving the Ethernet steering order from described actuator Ethernet/CAN data-interface converter, then carry out simulation calculation according to described Ethernet steering order and the mathematical model of the described actuator that prestores, obtain new control information and new control moment information, and will this new control information and new control moment information send to described dynamics simulation server.
8. system according to claim 7, is characterized in that, described actuator Ethernet/CAN data-interface converter is single or multiple; Each actuator Ethernet/CAN data-interface converter is converted into the Ethernet steering order for the CAN steering order that will belong to the same class actuator and/or each actuator Ethernet/CAN data-interface converter is converted into the Ethernet steering order for the CAN steering order that will belong to the inhomogeneity actuator.
9. according to claim 1-8 any one described systems, it is characterized in that, also comprise: data storage server, described data storage server is connected with described spaceborne computer, the described true form analog measurement that described spaceborne computer will receive and the described steering order that calculates send to described data storage server, are stored by described data-carrier store.
10. according to claim 1-8 any one described systems, it is characterized in that, also comprise: land station's simulator, described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite of this satellite flight control closed loop simulation system transmission, then, draw and the kinematic parameter that shows received described current satellite curve over time; And/or described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed loop simulation system sends, and then, stores and shows that described actuator simulator exports to the information of described emulation server; And/or described land station simulator receives orbit parameter information and the attitude quaternion information of the current satellite that this satellite flight control closed loop simulation system sends, and then, stores and shows that described sensor simulator exports to the information of described spaceborne computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110363213 CN102411313B (en) | 2011-11-16 | 2011-11-16 | Satellite flight control closed loop simulation system based on component simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110363213 CN102411313B (en) | 2011-11-16 | 2011-11-16 | Satellite flight control closed loop simulation system based on component simulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102411313A CN102411313A (en) | 2012-04-11 |
| CN102411313B true CN102411313B (en) | 2013-06-05 |
Family
ID=45913435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110363213 Expired - Fee Related CN102411313B (en) | 2011-11-16 | 2011-11-16 | Satellite flight control closed loop simulation system based on component simulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102411313B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064300B (en) * | 2013-01-29 | 2015-08-19 | 哈尔滨工业大学 | The autonomous interpretation treating apparatus of satellite closed cycle test macro data and disposal route thereof |
| CN103412493B (en) * | 2013-07-29 | 2016-01-20 | 北京航空航天大学 | Solid-liquid power cruise vehicle aerial mission planning simulation system |
| CN104009882B (en) * | 2014-04-29 | 2017-06-13 | 上海科梁信息工程股份有限公司 | The method of testing and system of the equivalent satellite power-supply system based on distributed structure/architecture |
| CN104571097B (en) * | 2015-01-23 | 2018-03-09 | 北京控制工程研究所 | A kind of in-orbit closed loop checking system of satellite control system |
| CN105319993A (en) * | 2015-11-27 | 2016-02-10 | 上海新跃仪表厂 | Hardware intermediate layer-based mini-type real-time simulation system |
| CN105974907A (en) * | 2016-05-12 | 2016-09-28 | 上海微小卫星工程中心 | Satellite attitude control ground simulation testing system |
| CN107544469A (en) * | 2017-09-25 | 2018-01-05 | 中国航空工业集团公司西安飞机设计研究所 | A kind of automatic winged control closed loop test system with configuration |
| CN108639394B (en) * | 2018-05-24 | 2021-01-12 | 北京仿真中心 | Semi-physical simulation system and method for simulating flywheel |
| CN113495497B (en) * | 2018-10-10 | 2024-05-14 | 上海微小卫星工程中心 | Satellite simulation on-orbit working condition closed loop test system |
| CN109856995B (en) * | 2019-03-04 | 2021-12-07 | 北京空间飞行器总体设计部 | Whole-satellite control subsystem simulation platform for test method verification and evaluation |
| CN111796304A (en) * | 2020-06-24 | 2020-10-20 | 深圳航天东方红海特卫星有限公司 | Universal serial port tester for microsatellite |
| CN112052560A (en) * | 2020-07-30 | 2020-12-08 | 上海航天控制技术研究所 | Closed-loop simulation design method for system-level on-board computer maintenance mode |
| CN112083661A (en) * | 2020-08-04 | 2020-12-15 | 上海航天控制技术研究所 | Integrated virtual simulation test system |
| CN112099518A (en) * | 2020-09-21 | 2020-12-18 | 中国科学院微小卫星创新研究院 | Satellite attitude control simulation test method and system |
| CN112363410B (en) * | 2020-11-13 | 2022-09-30 | 浙江大学 | Intelligent autonomous control research and verification system for spacecraft |
| CN112558624B (en) * | 2020-12-11 | 2023-09-29 | 北京控制工程研究所 | Spacecraft autonomous mission planning verification deployment integrated intelligent computing system |
| CN114167751B (en) * | 2021-11-30 | 2024-01-02 | 中国星网网络应用有限公司 | Constellation semi-physical simulation system and simulation method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1813955A1 (en) * | 2006-01-19 | 2007-08-01 | Alcatel Lucent | Device controlling relative position(s) using power measurements for use by a spacecraft in a group of spacecraft in formation |
| CN101226113A (en) * | 2008-01-30 | 2008-07-23 | 北京航空航天大学 | Method and apparatus for testing star sensor function based on electric injection star map |
| CN101226561A (en) * | 2007-12-28 | 2008-07-23 | 南京航空航天大学 | Minitype simulation support system and operating method for minitype spacecraft attitude orbital control system |
| CN101320524A (en) * | 2008-04-22 | 2008-12-10 | 北京航空航天大学 | Multiprocessor real-time simulation platform |
| CN101814107A (en) * | 2010-05-06 | 2010-08-25 | 哈尔滨工业大学 | Satellite dynamics simulation system and method based on satellite dynamics model library |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7437125B2 (en) * | 2001-02-27 | 2008-10-14 | The Boeing Company | EIRP statistical calculation method |
-
2011
- 2011-11-16 CN CN 201110363213 patent/CN102411313B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1813955A1 (en) * | 2006-01-19 | 2007-08-01 | Alcatel Lucent | Device controlling relative position(s) using power measurements for use by a spacecraft in a group of spacecraft in formation |
| CN101226561A (en) * | 2007-12-28 | 2008-07-23 | 南京航空航天大学 | Minitype simulation support system and operating method for minitype spacecraft attitude orbital control system |
| CN101226113A (en) * | 2008-01-30 | 2008-07-23 | 北京航空航天大学 | Method and apparatus for testing star sensor function based on electric injection star map |
| CN101320524A (en) * | 2008-04-22 | 2008-12-10 | 北京航空航天大学 | Multiprocessor real-time simulation platform |
| CN101814107A (en) * | 2010-05-06 | 2010-08-25 | 哈尔滨工业大学 | Satellite dynamics simulation system and method based on satellite dynamics model library |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102411313A (en) | 2012-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102411313B (en) | Satellite flight control closed loop simulation system based on component simulator | |
| CN107942720B (en) | Portable ground online flight simulation system | |
| CN105259794B (en) | A kind of satellite gravity anomaly ground artificial system based on plug and play technique | |
| CN105573800B (en) | A kind of veneer or multi-slab and online updating method based on ZYNQ | |
| CN104777757A (en) | Closed-loop simulation testing system and method for ground attitude control of microsatellites | |
| CN103425612B (en) | The skin satellite carried computer system of low-power consumption | |
| CN105278348A (en) | Modularized semi-physical simulation system of spacecraft orbit attitude | |
| CN103970032A (en) | Satellite platform and mechanical arm cooperation simulator | |
| CN106383969B (en) | A kind of carrier rocket multi-simulation data interactive method | |
| CN108287959A (en) | Artificial intelligence program person writes digital aircraft source code specifications decision and executes method | |
| Kumar et al. | A testbed to simulate and analyze resilient cyber-physical systems | |
| CN103744419A (en) | Combination missile target imitation flight test system | |
| CN114167751B (en) | Constellation semi-physical simulation system and simulation method | |
| CN103792851A (en) | Wireless ad hoc network-based cluster spacecraft semi-physical simulation system and method | |
| CN105159144A (en) | Spacecraft control system ground simulation high-speed control development system | |
| CN110383186A (en) | A kind of emulation mode and device of unmanned plane | |
| CN104199312A (en) | Ground simulating developing device for satellite control system | |
| CN102411312B (en) | Sensor simulator and satellite closed loop simulation system | |
| CN109656147A (en) | Air-combat simulation system | |
| CN102436186B (en) | Performer simulator and satellite closed loop simulation system with performer simulator | |
| CN103984349A (en) | SOPC-based spatial rope-tied robot control system and method | |
| CN113348764B (en) | System and method for overall process digital simulation of lunar aircraft | |
| CN103246607B (en) | The emulation test method of aerial camera address bit pattern communication interface | |
| Stephan et al. | Autonomous unmanned aerial vehicle development: Mavlink abstraction layer | |
| Horowitz et al. | Embedded software design and system integration for rotorcraft UAV using platforms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20201116 |