CN107608236A - Laser-guided bomb semi-physical real-time simulation system - Google Patents
Laser-guided bomb semi-physical real-time simulation system Download PDFInfo
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- CN107608236A CN107608236A CN201710913688.6A CN201710913688A CN107608236A CN 107608236 A CN107608236 A CN 107608236A CN 201710913688 A CN201710913688 A CN 201710913688A CN 107608236 A CN107608236 A CN 107608236A
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Abstract
The invention discloses a kind of laser-guided bomb semi-physical real-time simulation system, for carrying out emulation testing to missije laser target seeker, electric steering engine and missile guidance control algolithm.Its system includes signal imitation part, the laser received for producing simulation target seeker；Analog portion is moved, for simulated missile and target relative movement relation；Main control part is tested, for real time execution Missile Motion simulation software, drives whole analogue system, and the whole data of experiment are monitored, recorded and ex-post analysis.It is contemplated that providing design aids for missileman, designer is understood the problem of there may be in missile performance and design, shorten the lead time of guided missile, reduce outfield flight test number, there is higher practicality and economic benefit.
Description
Technical field
The present invention relates to laser-guided bomb, particularly discloses a kind of laser-guided bomb semi-physical real-time simulation system.
Background technology
Laser-guided bomb is by fixed wing aircraft, and heligyro or unmanned plane are as flat pad.As ground individual soldier or
After aircraft pilot has found target, notify that guided missile and carrier aircraft enter SBR, the MISSILE LAUNCHING after guided missile meets launching condition,
Ground individual soldier or carrier aircraft are irradiated using laser irradiation device to target simultaneously.Treat that guided missile is laggard by initial guidance, midcourse guidance section
Enter target acquistion area, when guided missile enables target seeker to receive the laser signal being reflected back from target close to target, target seeker solution
Lock and start to track target, guided missile enters terminal guidance section, and then hits the mark.
Laser-guided bomb guidance component mainly includes laser seeker and electric steering engine, and laser seeker is tracked by laser
Irradiator sends and is irradiated to target, and the laser being reflected back by target, electric steering engine is according to caused by missile guidance control strategy
Angle of rudder reflection instruction swings rudder piece and changes the flight force and moment that guided missile is subject to, and Missile Motion is controlled, so as to which smart missiles hit mesh
Mark., it is necessary to carry out guided missile system HWIL simulation to verify that this is led after laser seeker and electric steering engine are by performance test
Resilience energy is no further to carry out outfield flight test and reaches predetermined accuracy at target.According to Hardware-in-loop Simulation Experimentation as a result, it is possible to
Deficiency that may be present on laser seeker, electric steering engine, missile guidance control strategy and Integrated Missile Design is divided
Analysis.
The Missile Motion that conventional guided missile Hardware In The Loop Simulation Method needs to write using certain real time operating system as platform emulates
Software, and the hardware driving with corresponding device talk in kind.To ensure real-time, the Missile Motion simulation software typically needs
Profit is wanted to show a C language, construction cycle length, and each function need to be tested, to ensure that it is real that software performs time satisfaction
The requirement of when property.In addition, actual missile development process may be frequently necessary to guided missile population parameter and the progress of Guidance and control algorithm
Amendment, which again increases the complexity that Missile Motion simulation software safeguards.Control instruction during guided missile practical flight is by bullet
Computer is carried to send, due to Missile Motion simulation software in missile-borne computer software and HWIL simulation development platform not
Together, can not common codes, therefore Missile Motion simulation software will be tested largely after writing in HWIL simulation, to ensure
Missile Motion simulation software can simulate missile-borne computer completely.
The content of the invention
In view of this, the embodiments of the invention provide a kind of laser-guided bomb semi-physical real-time simulation system, Neng Goushi
Independent and system-wide emulation testing is now carried out to missije laser target seeker, electric steering engine and missile guidance control algolithm.This hair
It is bright it is intended that missileman provides design aids, designer is understood in missile performance and design and that may be present ask
Topic, shorten the lead time of guided missile, reduce outfield flight test number, there is higher practicality and economic benefit.
A kind of laser-guided bomb semi-physical real-time simulation system, for being devices under including electric steering engine and laser
Target seeker is emulated, including：Signal imitation part, motion analog portion and test main control part；
The signal imitation part includes semiconductor pulse laser, controller, driving power, target simulator, described
Driving power is powered to the semiconductor pulse laser, described in the semiconductor pulse laser is imported laser by optical fiber
Target simulator, the controller are electric with the semiconductor pulse laser, the driving power, the target simulator respectively
Property connection；
The test main control part includes emulation host computer, emulation slave computer, and the emulation slave computer passes through RS422 serial ports
Communication modes are communicated with the controller, and in real-time simulation, the emulation slave computer is partly led by controller control
The laser signal intensity that body pulse laser is sent, received with to simulate the laser seeker under different missile-target distances and angle
Laser signal intensity；
The motion analog portion includes switch board, two axle target simulator turntable stage bodies, three axle High Precision Flight Simulator stage bodies,
Emulation slave computer is communicated by fiber reflection network with switch board, and slave computer is emulated during real-time simulation and is controlled by switch board
The two axles target simulator turntable stage body and the three axles High Precision Flight Simulator stage body is made to rotate, the target simulator with it is described
Two axle target simulator turntable stage body inside casings rigidly connect firmly, the laser seeker and the three axles High Precision Flight Simulator stage body inside casing
Rigidity connects firmly, to real-time Simulation bullet mesh relative position relation and missile flight posture.
Alternatively, it is described test main control part also include CAN network relaying board, for monitor CAN load factor and
The CAN network monitoring device of erroneous frame, the emulation slave computer, the CAN network monitoring device, the electric steering engine and described
Laser seeker relays the CAN network of the star-like connection of board composition by the CAN network.
Alternatively, the emulation host computer based on ICP/IP protocol communicate and connected by netting twine and the emulation slave computer
Connect.
Alternatively, the Missile Motion simulation software of the emulation slave computer operation needs to carry out using the emulation host computer
Programming and compiling.
Alternatively, the Missile Motion simulation software includes guided missile six-degree-of-freedom dynamics equation, missile flight environment mould
Type, Aerodynamics Model, engine mockup, target kinematics model, missile guidance control algolithm.
Alternatively, the Missile Motion simulation software is compiled using the graphical high-level [computers of MATLAB/Simulink
Journey.
Alternatively, the performance indications of the two axles target simulator turntable stage body include：Double ten bandwidth：≥4Hz；Angle model
Enclose：Inside casing ± 100 °, housing ± 90 °.
Alternatively, the performance indications of the three axles High Precision Flight Simulator stage body include：Double ten bandwidth：>=12Hz (inside casing),
>=10Hz (center), >=8Hz (housing), angular range：The continuous rotation of 360 ° of inside casing, center ± 60 °, housing ± 90 °.
Alternatively, the two axles target simulator turntable stage body and the three axles High Precision Flight Simulator stage body use vertical knot
Structure, the two axles target simulator turntable stage body and the respective base of the three axles High Precision Flight Simulator stage body are provided with and lower margin spiral shell
The mounting hole and horizontal adjusting mechanism that bolt is fixed.
Alternatively, the two axles target simulator turntable stage body and the three axles High Precision Flight Simulator stage body are respectively provided with
In test by the supply lines of laser seeker and the conducting slip ring of grounded signal-wires.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
The invention discloses a kind of laser-guided bomb semi-physical real-time simulation system, for missije laser target seeker,
Electric steering engine and missile guidance control algolithm carry out emulation testing.Its system includes signal imitation part, is led for producing simulation
The laser that leader receives；Analog portion is moved, for simulated missile and target relative movement relation；Main control part is tested, is used for
Real time execution Missile Motion simulation software, drives whole analogue system, and the whole data of experiment are monitored, recorded and thing
Post analysis.It is contemplated that providing design aids for missileman, understanding designer can in missile performance and design
The problem of existing, shorten the lead time of guided missile, reduce outfield flight test number, there is higher practicality and economic effect
Benefit.
Brief description of the drawings
Fig. 1 is the structural frames of the laser-guided bomb semi-physical real-time simulation system of one embodiment provided by the invention
Figure；
Fig. 2 is the test operation flow of the laser-guided bomb semi-physical real-time simulation system of embodiment provided by the invention
Figure.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing, "
The (if present)s such as four " are for distinguishing similar object, without for describing specific order or precedence.It should manage
The data that solution so uses can exchange in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
With reference to shown in Fig. 1, a kind of laser-guided bomb semi-physical real-time simulation system, for being devices under including electricity
Dynamic steering wheel 01 and laser seeker 02 are emulated, including：Signal imitation part U2, motion analog portion U3 and test main control part
Divide U1；
The signal imitation part U2 includes semiconductor pulse laser 21, controller 22, driving power 23, target simulation
Device 24, the driving power 23 are powered to the semiconductor pulse laser 21, and the semiconductor pulse laser 21 passes through light
It is fine that laser is imported into the target simulator 24, the controller 22 respectively with the semiconductor pulse laser 21, the drive
Dynamic power supply 23, the target simulator 24 are electrically connected with；
The test main control part U1 includes emulation host computer 11, emulation slave computer 12, and the emulation slave computer 12 passes through
RS422 serial ports are communicated with the controller 22, and in real-time simulation, the emulation slave computer 12 is by described
Controller 22 controls the laser signal intensity that semiconductor pulse laser 21 is sent, to simulate institute under different missile-target distances and angle
State the laser signal intensity that laser seeker 02 receives；
The motion analog portion U3 includes switch board 31, two axle target simulator turntable stage bodies 32, three axle flight simulations and turned
Platform stage body 33, emulation slave computer 12 are communicated by fiber reflection network with switch board 31, emulate slave computer during real-time simulation
12 control the two axles target simulator turntable stage body 32 and 33 turns of the three axles High Precision Flight Simulator stage body by switch board 31
Dynamic, the target simulator 24 rigidly connects firmly with the inside casing of two axles target simulator turntable stage body 32, the laser seeker 02
Rigidly connect firmly with the inside casing of three axles High Precision Flight Simulator stage body 33, fly to real-time Simulation bullet mesh relative position relation and guided missile
Row posture.
A kind of laser-guided bomb semi-physical real-time simulation system provided by the invention, for missije laser target seeker
02nd, electric steering engine 01 and missile guidance control algolithm carry out emulation testing.Its system includes signal imitation part U2, for producing
Simulate the laser that target seeker receives；Analog portion U3 is moved, for simulated missile and target relative movement relation；Test main control part
Divide U1, for real time execution Missile Motion simulation software, drive whole analogue system, and the whole data of experiment are supervised
Control, record and ex-post analysis.It is contemplated that providing design aids for missileman, designer is set to understand missile performance
The problem of with there may be in design, shortening the lead time of guided missile, reducing outfield flight test number, there is higher practicality
Property and economic benefit.
Alternatively, the test main control part U1 also includes CAN network relaying board 13, for monitoring CAN load
The CAN network monitoring device 14 of rate and erroneous frame, it is the emulation slave computer 12, the CAN network monitoring device 14, described electronic
Steering wheel 01 and the laser seeker 02 are made up of the CAN network of star-like connection CAN network relaying board 13.
Alternatively, the emulation host computer 11 based on ICP/IP protocol communicate by netting twine and the emulation slave computer
12 connections.
Alternatively, the Missile Motion simulation software that the emulation slave computer 12 is run needs to utilize the emulation host computer 11
It is programmed and compiles.
Alternatively, the Missile Motion simulation software includes guided missile six-degree-of-freedom dynamics equation, missile flight environment mould
Type, Aerodynamics Model, engine mockup, target kinematics model, missile guidance control algolithm.
Alternatively, the Missile Motion simulation software is compiled using the graphical high-level [computers of MATLAB/Simulink
Journey.
Alternatively, the two axles target simulator turntable stage body 32 and the three axles High Precision Flight Simulator stage body 33 are using vertical
Formula structure, the two axles target simulator turntable stage body 32 and three axles High Precision Flight Simulator stage body, the 33 respective base are provided with
The mounting hole and horizontal adjusting mechanism fixed with foundation bolt.
Alternatively, the two axles target simulator turntable stage body 32 and the three axles High Precision Flight Simulator stage body 33 are respectively equipped with
For in test by the supply lines of laser seeker 02 and the conducting slip ring of grounded signal-wires.
In the present invention, the emulation slave computer 12 runs VxWorks real time operating system, for real time execution Missile Motion
Model；
In the present invention, the Missile Motion simulation software is write based on MATLAB/simulink instruments, due to using figure
Change high-level [computer programming, therefore software development cycle is shortened compared to traditional approach, reduce software maintenance cost.
Missile Motion simulation software compiling is downloaded into operation using RTW components in MATLAB and standard C language compiler
The emulation slave computer 12 of VxWorks real time operating system, so that analogue system being capable of real time execution.In addition, the guided missile fortune
The Guidance and control algorithm of dynamic simulation software uses MATLAB/C language hybrid programmings, is called using Sfunction in Simulink
The Guidance and control algorithmic code shown a C language is adopted, the code is consistent with the code that missile-borne computer realizes Guidance and control, so as to
It ensure that Missile Motion simulation software can simulate missile-borne computer completely in HWIL simulation；
In the embodiment of the present invention, tested target seeker attitude motion in space and missile target relative position are closed
System is simulated using five axle High Precision Flight Simulators；
In the embodiment of the present invention, the tested target seeker is received laser and produced using signal imitation part U2, the part
Formed including semiconductor pulse laser 21, driving power 23, controller 22, target simulator 24 and optical fiber；
In the embodiment of the present invention, the tested target seeker and electric steering engine 01 pass through CAN with emulation slave computer 12
Network is interconnected；
In the embodiment of the present invention, independent testing laser target seeker 02, electric steering engine 01, Guidance and control algorithm can be selected,
Or arbitrarily select two therein or all tested.
Specifically, retouched with reference to a kind of a kind of embodiment of laser-guided bomb semi-physical real-time simulation system of the present invention
State, as shown in figure 1, the laser-guided bomb real-time emulation system includes signal imitation part U2, motion analog portion U3 and survey
Try main control part U1.Wherein signal imitation part U2 includes semiconductor pulse laser 21, controller 22, driving power 23, mesh
Mark simulator 24；Moving analog portion U3 includes switch board 31, two axle target simulator turntable stage bodies 32, three axle High Precision Flight Simulators
Stage body 33；Testing main control part U1 includes emulation host computer 11, emulation slave computer 12, CAN network relaying board 13, CAN network
Monitoring device 14；It is devices under including electric steering engine 01 and laser seeker 02.
Emulation slave computer 12 is communicated by RS422 serial ports with controller 22, under emulating during real-time simulation
Position machine 12 controls the laser signal intensity that semiconductor pulse laser 21 is sent by controller 22, to simulate different bullet eye-distances
The laser that measured laser target seeker 02 receives under walk-off angle degree.
Driving power 23 is used to power to semiconductor pulse laser 21.
Laser is imported target simulator 24 by semiconductor pulse laser 21 by optical fiber.
Emulation slave computer 12 is communicated by fiber reflection network with switch board 31, emulation slave computer 12 during real-time simulation
Two axle target simulator turntable stage bodies 32 and three axle High Precision Flight Simulator stage bodies 33 are controlled to rotate by switch board 31, target simulation
Device 24 rigidly connects firmly with the inside casing of two axle target simulator turntable stage body 32, the axle High Precision Flight Simulator stage body 33 of laser seeker 02 and three
Inside casing rigidly connects firmly, to real-time Simulation bullet mesh relative position relation and missile flight posture.
Emulation host computer 11 is connected by netting twine with emulation slave computer 12, is communicated based on ICP/IP protocol.
Slave computer 12, CAN network monitoring device 14, electric steering engine 01 and laser seeker 02 are emulated by CAN network
The CAN network of star-like connection is formed after board 13, CAN network monitoring device is used to monitor CAN load factor and erroneous frame, really
It is reliable to protect real-time Communication for Power.
Emulation slave computer 12 is the core of the laser-guided bomb semi-physical real-time simulation system, and it is real to be responsible for completion system
When simulation calculation.The Missile Motion simulation software that emulation slave computer 12 is run needs to be programmed and compile using emulating host computer 11
Translate.Missile Motion simulation software includes guided missile six-degree-of-freedom dynamics equation, missile flight environmental model, aerodynamics mould
Type, engine mockup, target kinematics model, missile guidance control algolithm etc. form.Missile Motion simulation software uses
The graphical high-level [computer programmings of MATLAB/Simulink.
Below with reference to Fig. 1, key building block in the present invention is illustrated.
Emulate slave computer
Emulate slave computer 12 and real-time simulation is completed using VxWorks real time operating system, related in Missile Motion simulation software
And to differential emulation group resolved using MATLAB/Simulink software Plays numerical value calculation methods, it is preferable that can adopt
With ode4 (Runge-Kutta) method, step-length 1ms~2ms.
The motion analog portion
In the present embodiment, the motion analog portion uses five axle High Precision Flight Simulators, the five axles High Precision Flight Simulator bag
Include switch board 31, two axle target simulator turntable stage bodies 32, three axle High Precision Flight Simulator stage bodies 33, electricity consumption between stage body and switch board
Cable is connected with each other.Preferably, two axle target simulator turntable stage bodies 32, three axle High Precision Flight Simulator stage bodies 33 use vertical knot
Structure, two axle target simulator turntable stage bodies 32, three axle High Precision Flight Simulator stage bodies 33 all have base, have on respective base with
The mounting hole and horizontal adjusting mechanism that foundation bolt is fixed.Two axle target simulator turntable stage bodies 32 and three axle High Precision Flight Simulator platforms
Each axle of body 33, as executing agency, drives each axle to be moved by given instruction by torque motor.During test, equipment under test laser is led
The supply lines and signal wire of leader 02 guide to ground by the conducting slip ring of turntable stage body respectively.
Preferably, the main performance index of two axle target simulator turntable stage bodies 32 has：
Double ten bandwidth：≥4Hz；
Angular range：Inside casing ± 100 °, housing ± 90 °；
Preferably, the main performance index of three axle High Precision Flight Simulator stage bodies 33 has：
Double ten bandwidth：>=12Hz (inside casing), >=10Hz (center), >=8Hz (housing)；
Angular range：The continuous rotation of 360 ° of inside casing, center ± 60 °, housing ± 90 °；
Semiconductor pulse laser
Semiconductor pulse laser 21 is signal imitation part U2 nucleus equipment, it is preferable that semiconductor pulse laser
21 main performance index has：
Non-stop run time >=10 minute；
Lasing fluorescence wavelength：1.064μm；
Pulse frequency：20Hz；
Substantially wrapped according to the whole test process of the laser-guided bomb Hardware-in-loop Simulation Experimentation of exemplary embodiments of the present invention
Include setting emulation primary condition, the initialization of analogue system each several part, be devices under initialization, l-G simulation test and experiment post processing
Four-stage, flow chart as shown in Fig. 2 be discussed in detail separately below.
1st, simulated conditions are set
Emulation needs the simulated conditions clearly to be tested before starting, in emulation host computer setting laser-guided bomb initial strip
Part and environmental condition, such as firing altitude, initial attitude, interference wind speed and direction etc..Then by this simulation model compile and under
Emulation slave computer is downloaded to, is waited pending.
2nd, analogue system initializes
Five axle High Precision Flight Simulator switch boards are operated, upper electricity, closure, zero are carried out to turntable stage body, controls each axle of stage body
Specified location is gone to, then adjusts five axle High Precision Flight Simulators to simulation model, waits emulation slave computer to send turning table control
Instruction.
Enabling signal analog portion, including semiconductor pulse laser, controller, driving power etc., by semiconductor pulse
Laser is adjusted to preheating mode, is waited after the completion of preheating, and controller is adjusted to simulation model, is waited emulation slave computer to send and is swashed
Luminous intensity instructs.
3rd, initialization and self-test are devices under
To electricity on tested electric steering engine and laser seeker, be devices under after power-up can self-test first, from
Transmission self-test successfully instructs after examining successfully or error code is to CAN network, judges to be devices under by CAN network monitoring device
It is whether working properly, when being devices under working properly, can continue to test.
4th, l-G simulation test
Slave computer real time execution simulation model is emulated by emulating PC control, emulation slave computer, which brings into operation, emulates mould
After type, five axle High Precision Flight Simulators are controlled to move by fiber reflection memory network, and regulation swashs in real time by RS422 serial communications
Luminous intensity.Tested laser seeker sends line-of-sight rate by line according to five axle High Precision Flight Simulator movement relations, total by CAN
Gauze network enters emulation slave computer, and emulation slave computer utilizes the line-of-sight rate by line and missile flight state, calculated according to Guidance and control
Method calculates the instruction of electric steering engine angle of rudder reflection, tested electric steering engine is sent to by CAN network, electric steering engine tracking should
Rudder is instructed partially, and steering wheel actual deflection angle is sent into emulation slave computer using CAN network, and emulation slave computer is according to reality
Border angle of rudder reflection calculates the air force and torque that guided missile is subject to, and completes guided missile six-degree-of-freedom dynamics equation solver, calculates
Missile attitude and bullet mesh relative motion relation, then thus control five axle High Precision Flight Simulators and semiconductor pulse laser to work,
The closed-loop simulation of completion system.While real time execution is emulated, emulate slave computer and CAN network monitoring device also record it is whole
The running status of individual system.
5th, experiment post processing
After off-test, the experiment number that host computer records emulation slave computer and CAN network monitoring device in real time is emulated
According to being collected and being handled, designer can be to being tested electric steering engine, laser seeker, Guidance and control algorithm and guided missile
The problem of master-plan there may be in carrying out is analyzed and optimization design.
The invention discloses a kind of laser-guided bomb semi-physical real-time simulation system, for missije laser target seeker,
Electric steering engine and missile guidance control algolithm carry out emulation testing.Its system includes signal imitation part, is led for producing simulation
The laser that leader receives；Analog portion is moved, for simulated missile and target relative movement relation；Main control part is tested, is used for
Real time execution Missile Motion simulation software, drives whole analogue system, and the whole data of experiment are monitored, recorded and thing
Post analysis.It is contemplated that providing design aids for missileman, understanding designer can in missile performance and design
The problem of existing, shorten the lead time of guided missile, reduce outfield flight test number, there is higher practicality and economic effect
Benefit.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
A kind of laser-guided bomb semi-physical real-time simulation system provided by the present invention is described in detail above,
For those of ordinary skill in the art, according to the thought of the embodiment of the present invention, in specific embodiments and applications
It will change, in summary, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of laser-guided bomb semi-physical real-time simulation system, it is characterised in that for electronic to being devices under including
Steering wheel and laser seeker are emulated, including：Signal imitation part, motion analog portion and test main control part；
The signal imitation part includes semiconductor pulse laser, controller, driving power, target simulator, the driving
Power supply is powered to the semiconductor pulse laser, and laser is imported the target by the semiconductor pulse laser by optical fiber
Simulator, the controller electrically connect with the semiconductor pulse laser, the driving power, the target simulator respectively
Connect；
The test main control part includes emulation host computer, emulation slave computer, and the emulation slave computer passes through RS422 serial communications
Mode is communicated with the controller, and in real-time simulation, the emulation slave computer controls semiconductor arteries and veins by the controller
The laser signal intensity that laser is sent is rushed, to simulate the laser that the laser seeker receives under different missile-target distances and angle
Signal intensity；
The motion analog portion includes switch board, two axle target simulator turntable stage bodies, three axle High Precision Flight Simulator stage bodies, emulation
Slave computer is communicated by fiber reflection network with switch board, and slave computer is emulated during real-time simulation by switch board to control
State two axle target simulator turntable stage bodies and the three axles High Precision Flight Simulator stage body rotates, the target simulator and two axle
Target simulator turntable stage body inside casing rigidly connects firmly, the laser seeker and three axles High Precision Flight Simulator stage body inside casing rigidity
Connect firmly, to real-time Simulation bullet mesh relative position relation and missile flight posture.
2. laser-guided bomb semi-physical real-time simulation system according to claim 1, it is characterised in that the test master
Control part also includes CAN network relaying board, the CAN network monitoring device for monitoring CAN load factor and erroneous frame, institute
State emulation slave computer, the CAN network monitoring device, the electric steering engine and the laser seeker and pass through the CAN network
Relay the CAN network that board forms star-like connection.
3. laser-guided bomb semi-physical real-time simulation system according to claim 1, it is characterised in that in the emulation
Position machine carries out communication based on ICP/IP protocol and is connected by netting twine with the emulation slave computer.
4. laser-guided bomb semi-physical real-time simulation system according to claim 1, it is characterised in that under the emulation
The Missile Motion simulation software of position machine operation needs to be programmed and compiled using the emulation host computer.
5. laser-guided bomb semi-physical real-time simulation system according to claim 4, it is characterised in that the guided missile fortune
Dynamic simulation software includes guided missile six-degree-of-freedom dynamics equation, missile flight environmental model, Aerodynamics Model, engine mould
Type, target kinematics model, missile guidance control algolithm.
6. laser-guided bomb semi-physical real-time simulation system according to claim 4, it is characterised in that the guided missile fortune
Dynamic simulation software is using the graphical high-level [computer programmings of MATLAB/Simulink.
7. laser-guided bomb semi-physical real-time simulation system according to claim 1, it is characterised in that the two axles mesh
The performance indications of mark artificial rotary table stage body include：Double ten bandwidth：≥4Hz；Angular range：Inside casing ± 100 °, housing ± 90 °.
8. the laser-guided bomb semi-physical real-time simulation system according to claim 1 or 7, it is characterised in that described three
The performance indications of axle High Precision Flight Simulator stage body include：Double ten bandwidth：>=12Hz (inside casing), >=10Hz (center), >=8Hz are (outer
Frame), angular range：The continuous rotation of 360 ° of inside casing, center ± 60 °, housing ± 90 °.
9. laser-guided bomb semi-physical real-time simulation system according to claim 1, it is characterised in that the two axles mesh
Mark artificial rotary table stage body and the three axles High Precision Flight Simulator stage body use vertical structure, the two axles target simulator turntable platform
Body and the respective base of the three axles High Precision Flight Simulator stage body are provided with the mounting hole fixed with foundation bolt and horizontal adjustment
Mechanism.
10. laser-guided bomb semi-physical real-time simulation system according to claim 1, it is characterised in that two axle
Target simulator turntable stage body and the three axles High Precision Flight Simulator stage body are respectively provided with laser seeker in test
The conducting slip ring of supply lines and grounded signal-wires.
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| CN201710913688.6A CN107608236A (en) | 2017-09-30 | 2017-09-30 | Laser-guided bomb semi-physical real-time simulation system |
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| CN109188952A (en) * | 2018-08-07 | 2019-01-11 | 中国人民解放军陆军工程大学 | Weapon flight parameter acquisition device and method |
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