CN105740039A - RTX and VMIC based GNC real-time simulation system construction method - Google Patents
RTX and VMIC based GNC real-time simulation system construction method Download PDFInfo
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- CN105740039A CN105740039A CN201410745442.9A CN201410745442A CN105740039A CN 105740039 A CN105740039 A CN 105740039A CN 201410745442 A CN201410745442 A CN 201410745442A CN 105740039 A CN105740039 A CN 105740039A
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Abstract
The present invention discloses an RTX and VMIC based GNC real-time simulation system construction method. The method comprises: firstly, establishing an RTX based real-time simulation platform, and implementing a system real-time property by adding an RTX real-time software package directly under a Windows NT system platform; next, implementing real-time fast communications between closed-loop core computers in a network communication manner based on VMIC; then, performing distributed configuration on a dynamics program and a stand-alone simulation program according to a reflective memory network node; then, setting a dynamic forwarding computer as a ground data interaction management center; and finally, by means of a PXI acquisition control computer, implementing hardware interface and data exchange processing functions between the satellite and the ground, so as to implement establishment of a GNC real-time simulation system platform. The method disclosed by the present invention solves the demand of a ground simulation test for a distributed, high real-time and low-cost simulation system.
Description
Technical field
The present invention relates to aircraft GNC system ground field tests, a kind of especially GNC real-time emulation system construction method based on RTX and VMIC.
Background technology
Development along with aircraft GNC technology, real-time emulation system is proposed increasingly higher requirement, not only requires that computer operating system has good real-time, and need it to possess powerful general utility functions, such as high data rate is mutual, distributed treatment and Real time displaying etc..
At present, aircraft to realize many bodies attitude dynamics of orbits of complexity and resolve, and the unit category patterns simulated is numerous, and current emulation platform is difficult to meet model GNC subsystem for distributed, high real-time, the demand of low cost.Existing aircraft GNC real-time emulation system (adopts XPC, RTLAB, the platforms such as DSpace and Vxworks) when building, generally adopt the upper and lower computer architecture based on DOS system: the slave computer (also known as the target machine) real-time program for running under DOS system, host computer (also known as host) is for model compilation, and load and under Windows system, the real-time program of slave computer being monitored etc. operates.The time delay of transmission that the shortcoming of this kind of constructing plan is in that between upper and lower computer data causes the increase of program circulating period, precise decreasing.Especially for extend many slave computers distributing emulation system or carry out big data quantity mutual time, this drawback seems more prominent.Additionally, also face more challenge from hardware cost, software operation and framework complexity.
Summary of the invention
It is an object of the invention to provide a kind of GNC real-time emulation system construction method based on RTX and VMIC, it is possible to meet the requirement for analogue system real-time.
For solving the problems referred to above, the present invention provides a kind of GNC real-time emulation system construction method based on RTX and VMIC, including:
Step one, sets up the real-time simulation platform based on RTX；
Step 2, adopts the network communication mode based on VMIC to realize the communication real-time between closed loop core computer；
Step 3, carries out decentralized configuration by kinetic procedure and unit simulation program according to reflective memory network node；
Step 4, arranges kinetics and forwards computer as ground data interactive maintenance center；
Step 5, by PXI acquisition controlling computer, it is achieved hardware interface and data exchange processing function between star ground.
Further, in the above-mentioned methods, in step one, by, directly under WindowsNT system platform, utilizing increase RTX real-time software bag to realize the real-time of system.
Compared with prior art, the present invention is by setting up the real-time simulation platform based on RTX, the network communication mode based on VMIC is adopted to realize the communication real-time between closed loop core computer, kinetic procedure and unit simulation program are carried out decentralized configuration according to reflective memory network node, arranging kinetics forwards computer as ground data interactive maintenance center, by PXI acquisition controlling computer, realize hardware interface and data exchange processing function between star ground, realize GNC real-time emulation system platform building, meet the requirement for analogue system real-time, solve ground simulation test analogue system is distributed, high in real time and the demand of low cost
Accompanying drawing explanation
Fig. 1 is the flow chart of the GNC real-time emulation system construction method based on RTX and VMIC of one embodiment of the invention；
Fig. 2 is the GNC real-time emulation system block diagram based on RTX and VMIC of one embodiment of the invention；
Fig. 3 is the system assumption diagram of the RTX of one embodiment of the invention；
Fig. 4 is the reflective memory communication management schematic diagram of one embodiment of the invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As it is shown in figure 1, the present invention provides a kind of GNC real-time emulation system construction method based on RTX and VMIC, including:
Step S1, sets up the real-time simulation platform based on RTX, by, directly under WindowsNT system platform, utilizing increase RTX real-time software bag to realize the real-time of system；Concrete, step S1 avoids time delay produced by the data interaction between upper and lower computer, and modularized distribution type simulation framework improves reliability and the motility of analogue system, there is higher expansion, simultaneously only by functions such as a computer implementation model on-line operation and compiling, loading, monitoring, framework is simple, and cost is low；
Step S2, adopts the network communication mode based on VMIC to realize the communication real-time between closed loop core computer；Concrete, VMIC be a kind of internal memory shared mechanism new network communication modes, it is used for the communication real-time realizing between closed loop core computer, adopt internal memory shared mechanism, greatly reduce produced time delay during data interaction between the simulation computer of GNC closed loop each ground, thus improve real-time；
Step S3, carries out decentralized configuration by kinetic procedure and unit simulation program according to reflective memory network node；Concrete, here on the one hand it can be avoided that a computer excessively uses resource, particularly the serial communication between unit analogue computer and GNC On board computer does not interfere with kinetic procedure operation, makes model be capable of modular functionality on the other hand and distinguishes, is conducive to artificial tasks to expand；
Step S4, arranges kinetics and forwards computer as ground data interactive maintenance center；
Step S5, by PXI acquisition controlling computer, it is achieved hardware interface and data exchange processing function between star ground.
Preferably, in step S5, the data that sensor is emulated signal by described PXI acquisition controlling computer function board are sent to front end signal conditioning case or are transferred directly on GNC computer subsystem by RS422 interface.
Fig. 2 gives the GNC real-time emulation system block diagram based on RTX and VMIC.
As shown in Figure 2, the original state (can real-time online inject) of aircraft is set at dynamics computer, device arrow runs dynamics simulation program after separating, through kinetics and kinematic computing, the data that sensor is emulated signal by PXI acquisition controlling computer function board are sent to front end signal conditioning case or are transferred directly on GNC computer subsystem by RS422 interface.Dynamics computer receives the control instruction signal input as the next one control cycle of the GNC computer simulation output control actuator that PXI acquisition controlling computer acquisition is arrived by reflective memory network simultaneously, recalculating the state that aircraft is new, controlling thus completing a closed-loop simulation controlling the cycle.
Fig. 3 gives the system assumption diagram of RTX.
As shown in Figure 3, RTX adopts HAL expansion technique to be that WindowsXP operating system installs real-time subsystem (RTSS:RealTimeSubsystem), provide a set of RtWinAPI standard DLL, it is possible to by the Win32 environment of standard and RTSS environment calls simultaneously.Increase at WindowsXP and RTX cross-thread and interrupt isolation, when running RTSS thread, run by arranging the conversion of the priority management real-time task of interrupt service routine, shield all WindowsXP and control to interrupt, it is ensured that the real-time of RTSS thread under Windows.128 priority can meet the requirement of programming of nearly all user, RTX scheduler may insure that thread be maintained at switching time 500 nanoseconds to 2 delicate between.
Fig. 4 gives reflective memory communication management schematic diagram.
As shown in Figure 4, the network communication under Windows environment configures communication interface management module by model and is controlled, and carries out network communication by Ethernet and outer computer.Under RTX environment, bottom data communication is carried out based on VMIC reflective memory network by constructed.The memory address that the write of RTX computer-solution data is specified by model allocation manager module, for outside each child servers node, is directly read from outside each child servers node by reverse Memory allocation and management module.
Compared with prior art, its advantage of the present invention and providing the benefit that:
1) time delay produced by the data interaction between upper and lower computer is avoided；
2) modularized distribution type simulation framework improves reliability and the motility of analogue system, has higher expansion；
3) internal memory shared mechanism greatly reduces produced time delay during data interaction between the simulation computer of GNC closed loop each ground；
4) with a computer implementation model on-line operation and compiling, loading, the function such as monitoring, framework is simple, and cost is low.
In this specification, each embodiment adopts the mode gone forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually referring to.
Professional further appreciates that, the unit of each example described in conjunction with the embodiments described herein and algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate the interchangeability of hardware and software, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel specifically can should be used for using different methods to realize described function to each, but this realization is it is not considered that beyond the scope of this invention.
Obviously, invention can be carried out various change and modification without deviating from the spirit and scope of the present invention by those skilled in the art.So, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to include these change and modification.
Claims (2)
1. the GNC real-time emulation system construction method based on RTX and VMIC, it is characterised in that including:
Step one, sets up the real-time simulation platform based on RTX；
Step 2, adopts the network communication mode based on VMIC to realize the communication real-time between closed loop core computer；
Step 3, carries out decentralized configuration by kinetic procedure and unit simulation program according to reflective memory network node；
Step 4, arranges kinetics and forwards computer as ground data interactive maintenance center；
Step 5, by PXI acquisition controlling computer, it is achieved hardware interface and data exchange processing function between star ground.
2. the GNC real-time emulation system construction method based on RTX and VMIC as claimed in claim 1, it is characterised in that in step one, by, directly under WindowsNT system platform, utilizing increase RTX real-time software bag to realize the real-time of system.
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| CN111580751A (en) * | 2020-03-30 | 2020-08-25 | 上海机电工程研究所 | 0-1 dynamic data transmission and storage method and system based on reflective memory network |
| CN112486036A (en) * | 2020-11-23 | 2021-03-12 | 南京理工大学 | Real-time visual cooperative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies |
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| CN111580751A (en) * | 2020-03-30 | 2020-08-25 | 上海机电工程研究所 | 0-1 dynamic data transmission and storage method and system based on reflective memory network |
| CN111580751B (en) * | 2020-03-30 | 2023-05-12 | 上海机电工程研究所 | 0-1 dynamic data transmission and storage method and system based on reflective memory network |
| CN112486036A (en) * | 2020-11-23 | 2021-03-12 | 南京理工大学 | Real-time visual cooperative anti-interference simulation platform based on Unity3D, RTX and VMIC technologies |
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