CN106681170A - Semi-object guidance simulation method and system - Google Patents
Semi-object guidance simulation method and system Download PDFInfo
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Abstract
The invention discloses a semi-object guidance simulation method and system. The method comprises that an aiming device of a guidance station is placed in two axes of a multi-freedom movement simulation platform; an aircraft simulator is placed in two random axes, except the two axes for placing the aiming device, of the multi-freedom movement simulation platform; a movement simulation control system controls angular movement of the aiming device in two directions and angular movement of the aircraft simulator in two directions; the aiming device is used to observe the aircraft simulator to obtain angular information of an aircraft; and according to the obtained aircraft angular information, input target angular information and a three-point guidance relation equation, a control instruction is output to an aircraft control system. The semi-object guidance simulation method realizes simulation of a guidance process and a non-active homing guidance system.
Description
Technical Field
The invention relates to the technical field of semi-physical simulation, in particular to a semi-physical guidance simulation method and a semi-physical guidance simulation system.
Background
The application field of the guidance system mainly comprises missile target guidance, satellite launching, unmanned aerial vehicle flying, aircraft systems for realizing different task requirements and the like. Guidance is defined as techniques and methods for guiding and controlling an aircraft to fly toward a target or predetermined trajectory according to a certain law. The guidance system mainly comprises a guidance system, an aircraft and an aircraft control system, and the working process of the guidance system is that the guidance system continuously measures the relative position relation between the aircraft and a target or a preset track, sends out guidance information and transmits the guidance information to the aircraft control system so as to control the flight process of the aircraft.
The guidance system is the key for realizing the target guidance of the aircraft, so the function and performance test of the guidance system is an essential link in the research and development process. According to different guidance modes of the guidance system, the guidance system can be divided into an active-seeking guidance system and a non-active-seeking guidance system, wherein for the active-seeking guidance system, a guidance method of the guidance system is generally a proportional guidance method, and a structure of a semi-physical guidance simulation system for testing functions and performance of the active-seeking guidance system for performing target guidance by using the proportional guidance method in the prior art is shown in fig. 1 and includes: the system comprises an object simulator 10 arranged on a five-axis turntable 30, a guidance system 20 connected with the object simulator 10, an aircraft control system 50 connected with the guidance system 20, and a motion simulation control system 40 connected with the five-axis turntable 30 and the aircraft control system 50; in the testing process, the motion simulation control system 40 is used for generating a target real-time motion model and an aircraft real-time motion model, the target simulator 10 is used for providing physical characteristics of a target, the motion simulation control system 40 is used for controlling the motion of the five-axis turntable 30, so that the motion of the aircraft in three postures is simulated by using the motion of the inner three axes of the five-axis turntable 30, the motion of the aircraft in two directions of a line-of-sight angle between the aircraft and the target is simulated by using the outer two axes of the five-axis turntable 30, the motion simulation control system 40 is further enabled to obtain an included angle between a target line of sight (a connecting line between the aircraft and the target) and a horizontal plane and a velocity vector of the aircraft, and the guidance system 20 can send guidance information to the aircraft control system 50 according to the included angle between the target line of sight and the horizontal plane, the velocity vector of, and testing the guidance system.
However, for guidance systems which are not actively sought, a semi-physical guidance simulation method and a simulation system which can perform complete function and performance tests on the guidance systems are lacked in the prior art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a semi-physical guidance simulation method and a semi-physical guidance simulation system, so as to achieve the purpose of providing the semi-physical guidance simulation method and the semi-physical guidance simulation system which can test the function and the performance of the guidance system which is not actively searched.
In order to achieve the technical purpose, the embodiment of the invention provides the following technical scheme:
a semi-physical guidance simulation method is applied to a semi-physical guidance simulation system comprising a guidance station, a guidance system, an aircraft control system, an aircraft simulator, a multi-degree-of-freedom motion simulation platform and a motion simulation control system; the semi-physical guidance simulation method comprises the following steps:
placing the sight of the guidance station on two shafts of the multi-degree-of-freedom motion simulation platform;
placing the aircraft simulator on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes on which the observing and aiming device is placed;
inputting target angle information to the motion simulation control system, and controlling the angular motion of the sighting device in two directions and the angular motion of the aircraft simulator in two directions by the motion simulation control system according to the target angle information;
acquiring aircraft angle information of the aircraft simulator through the guidance station;
and outputting a control instruction to the aircraft control system according to the target angle information, the aircraft angle information and the three-point method guidance relation equation.
Optionally, the target angle information includes a target elevation angle and a target azimuth angle;
the aircraft angle information includes an aircraft altitude and an aircraft azimuth.
Optionally, the outputting a control instruction to the aircraft control system according to the target angle information, the aircraft angle information, and the three-point method guidance relation equation includes:
judging whether the target altitude angle, the target azimuth angle, the aircraft altitude angle and the aircraft azimuth angle meet a three-point method guidance relation equation, if not, outputting a control instruction to the aircraft control system according to the relation between the target altitude angle and the aircraft altitude angle and the relation between the target azimuth angle and the aircraft azimuth angle;
the three-point method guidance relation equation is as follows:M＝T，βM＝βT(ii) a Wherein,Mrepresenting the high and low angles of the aircraft,TRepresenting the target elevation angle, βMRepresenting the aircraft azimuth angle, βTRepresenting the target azimuth.
Optionally, after outputting a control instruction to the aircraft control system according to the target angle information, the aircraft angle information, and the three-point method guidance relation equation, the method further includes:
and after receiving the control instruction, the aircraft control system sends guidance information to the aircraft simulator according to the control instruction, so that the aircraft simulator adjusts a flight path according to the guidance information.
A semi-physical guidance simulation system comprising:
a multi-degree-of-freedom motion simulation platform;
the observing and sighting devices are arranged on two shafts of the multi-degree-of-freedom motion simulation platform;
the aircraft simulators are arranged on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes for placing the sighting device;
a guidance system connected to the viewer, the aircraft simulator and the aircraft control system;
and the motion simulation control system is connected with the multi-degree-of-freedom motion simulation platform and the aircraft control system.
Optionally, the multi-degree-of-freedom motion simulation platform is a five-axis turntable;
the observing and aiming devices are arranged on two shafts of the inner three shafts of the five-shaft turntable;
the aircraft simulator is arranged on the outer two shafts of the five-shaft rotary table.
Optionally, the method further includes:
a target for observation by the viewer.
Optionally, the target is an entity target or a virtual target generated by the motion simulation control system.
It can be seen from the above technical solutions that the embodiments of the present invention provide a semi-physical guidance simulation method and a simulation system, wherein the semi-physical guidance simulation method first places the observing and sighting device of the guidance station on two axes of the multi-degree-of-freedom motion simulation platform, simulates the angular position relationship between the observing and sighting device and the target through the motion of the two axes of the multi-degree-of-freedom motion simulation platform, and uses the equivalent transformation principle to take the angular position relationship between the observing and sighting device and the target as the target angle information; then, the aircraft simulator is placed on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes on which the observing and aiming device is placed, the angle position relation between the aircraft simulator and the observing and aiming device is changed through the motion of the two axes of the multi-degree-of-freedom motion simulation platform, and the angle position relation between the aircraft simulator and the observing and aiming device is used as the aircraft angle information by using the equivalent transformation principle; and finally, the guidance system outputs a control instruction to the aircraft control system according to the acquired target angle information, the aircraft angle information and the three-point method guidance relation equation, so that the simulation of the guidance process of the guidance system which is not actively sought is realized, the semi-physical simulation test of the function and the performance of the guidance system which is not actively sought is further realized, the manual control of the motion of the multi-degree-of-freedom motion simulation platform is not needed in the semi-physical simulation test process, the error caused by manual operation is reduced, and the precision of the semi-physical simulation test of the function and the performance of the guidance system is improved.
In addition, after the semi-physical guidance simulation system is simply converted and the motion simulation control system is adjusted, the semi-physical guidance simulation method can also meet the requirements of the semi-physical simulation test on the function and performance of the active guidance system, so that the cost for the semi-physical simulation test on the guidance system is greatly reduced.
Furthermore, a semi-physical guidance simulation system utilized by the semi-physical guidance simulation method only needs to meet the requirement of the area of the installation base of the multi-degree-of-freedom motion simulation platform, the length is usually less than 5 meters, and the occupied area is small.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a semi-physical guidance simulation system for testing the functions and performance of an active-homing guidance system using a proportional guidance method in the prior art;
fig. 2 is a schematic flowchart of a semi-physical guidance simulation method according to an embodiment of the present invention;
FIG. 3 is a survey coordinate system established with the guidance station, the aircraft, and the target;
FIG. 4 is a schematic flow chart of a semi-physical guidance simulation method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a semi-physical guidance simulation method according to another embodiment of the present invention;
FIG. 6 is a diagram of relative distance of movement of a missile and a target during a mathematical simulation model simulation experiment;
FIG. 7 is a diagram of a process of variation of the altitude angle of the aircraft and the altitude angle of the target sight line during a simulation experiment of a mathematical simulation model;
FIG. 8 is a diagram of a process of variation of the missile sight azimuth and the target sight azimuth during a simulation experiment of a mathematical simulation model;
FIG. 9 is a diagram of relative movement distance between a missile and a target in a semi-physical guidance simulation model simulation experiment;
FIG. 10 is a diagram of a process of changing the altitude angle of the aircraft and the altitude angle of the target view line in the semi-physical guidance simulation model simulation experiment process;
FIG. 11 is a diagram of a process of variation of a missile sight azimuth and a target sight azimuth in a semi-physical guidance simulation model simulation experiment;
fig. 12 is a schematic structural diagram of a semi-physical guidance simulation system according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a semi-physical guidance simulation method which is applied to a semi-physical guidance simulation system comprising a guidance station, a guidance system, an aircraft control system, an aircraft simulator, a multi-degree-of-freedom motion simulation platform and a motion simulation control system; as shown in fig. 2, the semi-physical guidance simulation method includes:
s101: placing the sight of the guidance station on two shafts of the multi-degree-of-freedom motion simulation platform;
s102: placing the aircraft simulator on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes on which the observing and aiming device is placed;
s103: inputting target angle information to the motion simulation control system, and controlling the angular motion of the sighting device in two directions and the angular motion of the aircraft simulator in two directions by the motion simulation control system according to the target angle information;
s104: acquiring aircraft angle information of the aircraft simulator through the guidance station;
s105: and outputting a control instruction to the aircraft control system according to the target angle information, the aircraft angle information and the three-point method guidance relation equation.
It should be noted that, in step S103, after receiving the input target angle information, the motion simulation control system may control the angular motion of the viewer in two directions according to the target angle information, so as to change the angular position relationship between the viewer and the target, and using an equivalent transformation principle, the angular position relationship between the viewer and the target may be used as the target angle information; similarly, the motion simulation control system controls the aircraft simulator to move in two directions according to the target angle information, so that the angular position relationship between the aircraft simulator and the sight is changed, and the angular position relationship between the aircraft simulator and the sight can be used as the aircraft angle information by using an equivalent transformation principle. In addition, in the embodiment of the present invention, the target may be realized by setting a physical target, or a virtual target may be generated by the motion simulation control system. The physical target can be a bulb or a target simulator, and the invention does not limit the type of the target and the specific way of setting the target, which is determined by the actual situation.
In theory, the degree of freedom of the multi-degree-of-freedom motion simulation platform may be equal to or greater than 4, but a five-axis turntable is preferable. The invention does not limit the specific type of the multi-degree-of-freedom motion simulation platform, and is determined according to the actual situation.
The semi-physical guidance simulation method provided by the embodiment of the invention is mainly used for realizing the semi-physical simulation test on the function and performance of the guidance system which is not actively searched. For a guidance system which does not actively seek, the guidance mode is a three-point method. The guiding principle of the three-point method will be briefly explained as follows:
in the three-point method, the aircraft is usually reduced to a mass point to study the change of the center of mass of the aircraft in an ideal situation. A measurement coordinate system shown in figure 3 is established, when the aircraft is guided by using a three-point method, the motion parameters of the aircraft and the target are measured by a guide station, and the relationship of the three is shown as Ox in figure 3RyRzRTo indicate.
In FIG. 3, M denotes the aircraft, T denotes the target, Vt denotes the target speed, V denotes the aircraft speed, the origin O coincides with the position C of the guidance station, OxRTwo axes, each pointing from the guidance station to an Ox of the aircraftRMAxis and a strip Ox directed at the target by the guide stationRTA shaft; same OyRThe axis is also two, and is respectively perpendicular to the OxRMOne axis OyRMAxial sum perpendicular to OxRTOne axis OyRTA shaft; accordingly, OzRTwo axes are also provided, each with OxRMAxis and OyRMOz with axes forming a right-hand vertical coordinate systemRMShaft, and with OxRTAxis and OyRTOz with axes forming a right-hand vertical coordinate systemRTA shaft. When the guidance station, the aircraft and the target are in the same straight line, only one Ox existsRAxis, OyRAnd OzR(this case is taken as an example in fig. 3).
The measurement coordinate system may be related to the ground coordinate system using two angles, elevation angle and azimuth angle β (not shown in FIG. 3)RThe angle between the axis and the ground coordinate system Oxz, in particular OxRMThe included angle between the axis and the ground coordinate system Oxz is called the altitude angle of the aircraftM，OxRTThe included angle between the axis and the ground coordinate system Oxz is called the altitude angle of the aircraftT. When Ox is generatedRMShaft and OxRTWhen the shafts are coincided with each other,M＝T。
the azimuth angle β refers to OxRThe angle between the projection of the axis on the ground plane and the ground coordinate system Ox. If the axis of Ox is rotated counterclockwise to the axis of OxROn the shaft, thenβ is positive, likewise, OxRMThe angle between the projection of the axis on the ground plane and the ground coordinate system Ox is called the aircraft azimuth βM，OxRTThe angle between the projection of the axis on the ground plane and the ground coordinate system Ox is called the aircraft azimuth βT. When Ox is generatedRMShaft and OxRTWhen the shafts are coincident, βM＝βT。
During the guidance process of the aircraft for attacking the target or flying to the destination, the aircraft is always positioned on a connecting line between the guidance station and the target. That is to say, the line CM of the guidance station and the aircraft is superposed with the line CM of the guidance station and the target to be a guidance target, so the guidance relation equation of the three-point method is as follows:
M＝T，βM＝βT；
the semi-physical guidance simulation method provided by the embodiment of the invention comprises the steps of firstly placing the view finder of the guidance station on two axes of the multi-degree-of-freedom motion simulation platform, changing the angle position relation between the view finder and the target through the motion of the two axes of the multi-degree-of-freedom motion simulation platform, and using the angle position relation between the view finder and the target as the target angle information by using an equivalent transformation principle (the method comprises the steps of (1)TAnd βT) (ii) a Then, by placing the aircraft simulator on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes on which the viewing and aiming device is placed, the angular relationship between the aircraft simulator and the viewing and aiming device is changed by the motion of the two axes of the multi-degree-of-freedom motion simulation platform, and similarly, by using the equivalent transformation principle, the angular position relationship between the aircraft simulator and the viewing and aiming device is used as the aircraft angle information: (MAnd βM) (ii) a Finally, the guidance system obtains the target angle information, the aircraft angle information and a three-point guidance relation equation (M＝T，βM＝βT) Outputting a control instruction to the aircraft control system so as to realize the guidance process of the guidance system which does not actively seekThe simulation of the guidance system can further achieve the semi-physical simulation test of the function and the performance of the guidance system which is not actively searched, and the movement of the multi-degree-of-freedom motion simulation platform is not required to be manually controlled in the semi-physical simulation test process, so that the error caused by manual operation is reduced, and the precision of the semi-physical simulation test of the function and the performance of the guidance system is improved.
In addition, after the semi-physical guidance simulation system is simply converted and the motion simulation control system is adjusted, the semi-physical guidance simulation method can also meet the requirements of the semi-physical simulation test on the function and performance of the active guidance system, so that the cost for the semi-physical simulation test on the guidance system is greatly reduced.
The simple semi-physical guidance simulation system for the guidance system which does not actively seek in the prior art comprises the following components: installing a bulb on a planar two-degree-of-freedom motion mechanism, placing a guidance station device at a certain distance (for example, 20m) away from the bulb, simulating two axial angular motions of an aircraft relative to the guidance station through the motion of the planar two-degree-of-freedom motion mechanism, and observing the motion of the bulb as angular position information of the aircraft through an observer of the guidance station; and the guidance system sends guidance information to the aircraft control system according to the aircraft angular position information, so that the aircraft control system controls the position of the aircraft to change (embodied by the movement of a bulb placed on the planar two-degree-of-freedom movement mechanism). Such semi-physical guidance simulation systems can only be used to examine whether the aircraft control system can implement angle command control for the aircraft, and cannot test whether the aircraft deviates from a target or a predetermined trajectory. In the embodiment, the semi-physical guidance simulation method can not only complete the function and performance test of the guidance system which is not actively searched, but also the semi-physical guidance simulation system used by the semi-physical guidance simulation method only needs to meet the requirement of the area of the installation base of the multi-degree-of-freedom motion simulation platform, the length is usually less than 5 meters, and the occupied area is smaller than the volume of the simple semi-physical guidance simulation system in the prior art.
On the basis of the above embodiment, in an embodiment of the present invention, as shown in fig. 4, the target angle information includes a target elevation angle and a target azimuth angle;
the aircraft angle information comprises an aircraft altitude angle and an aircraft azimuth angle;
the outputting a control instruction to the aircraft control system according to the target angle information, the aircraft angle information and the three-point method guidance relation equation comprises:
s1051: judging whether the target altitude angle, the target azimuth angle, the aircraft altitude angle and the aircraft azimuth angle meet a three-point method guidance relation equation, if not, outputting a control instruction to the aircraft control system according to the relation between the target altitude angle and the aircraft altitude angle and the relation between the target azimuth angle and the aircraft azimuth angle;
the three-point method guidance relation equation is as follows:M＝T，βM＝βT(ii) a Wherein,Mrepresenting the high and low angles of the aircraft,TRepresenting the target elevation angle, βMRepresenting the aircraft azimuth angle, βTRepresenting the target azimuth.
It should be noted that, in a preferred embodiment of the present invention, when the target altitude angle, the target azimuth angle, the aircraft altitude angle, and the aircraft azimuth angle satisfy the three-point guidance relation equation, no control command is output to the aircraft control system, so that the aircraft control system does not adjust the flight direction of the aircraft simulator, so that the aircraft simulator flies in the original flight direction. In another preferred embodiment of the present invention, when the target altitude and altitude, the target azimuth, the aircraft altitude and azimuth satisfy the three-point law guidance relation equation, a hold state instruction may also be output to the aircraft control system, so that the aircraft control system controls the aircraft simulator not to change the flight direction.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 5, after the outputting a control command to the aircraft control system according to the target angle information, the aircraft angle information, and the three-point law guidance relation equation, the method further includes:
s106: and after receiving the control instruction, the aircraft control system sends guidance information to the aircraft simulator according to the control instruction, so that the aircraft simulator adjusts a flight path according to the guidance information.
In order to verify the correctness of the semi-physical guidance simulation method provided by the embodiment of the invention, a pure mathematical model and a semi-physical guidance simulation model built according to the semi-physical guidance simulation method are built according to a three-point method guidance principle by taking a missile attack target as an example for comparison experiment.
Firstly, a pure mathematical model is utilized to carry out a simulation experiment, and initial parameters of simulation are set as follows:
missile initial position (20,1, 0); initial speed 170 m/s; initial attitude anglePsi ═ 0, γ ═ 0; initial attitude angular velocityInitial ballistic inclination angle theta 2 DEG ballistic deflection angle psiV＝-1°。
Assuming that the target moves in the horizontal plane, an initial position (5000,0, 200); speed (20,0, 0).
The resulting simulation results are shown in fig. 6, 7 and 8;
FIG. 6 is a diagram of relative distance of movement of a missile and a target during a mathematical simulation model simulation experiment; FIG. 7 is a diagram showing the variation process of the altitude angle of the aircraft and the altitude angle of the target sight line in the simulation experiment process of the mathematical simulation model, wherein in FIG. 7, a curve M represents the view of the aircraft (missile)The altitude angle of the line, the curve T represents the altitude angle of the target sight line, scheme guidance is adopted in the first 16 seconds, the purpose is to enable the aircraft to rise to a certain height, the condition of falling to the ground caused by direct guidance by adopting a three-point method is avoided, three-point guidance is adopted after the 16 th second, as can be seen from figure 7, after the aircraft is launched for 16 seconds, the aircraft is guided by adopting the three-point method, the altitude angle of the aircraft is rapidly drawn close to the target altitude angle, so that the altitude angle of the aircraft and the target altitude angle meet the altitude angle relation in a three-point method guidance relation equation, namely the altitude angle and the target altitude angle meet the altitude angle relationM＝TFIG. 8 is a variation process of the missile sight azimuth and the target sight azimuth in the simulation experiment process of the mathematical simulation model, in FIG. 8, a curve M represents the azimuth of the aircraft (missile) sight, a curve T represents the azimuth of the target sight, and similarly, after the aircraft is launched for 16 seconds, the azimuth of the aircraft is rapidly drawn to the target azimuth, so that the aircraft azimuth and the target azimuth meet the azimuth relation in the three-point method guidance relation equation, namely βM＝βT(ii) a From the simulation results of fig. 6, 7 and 8, the three-point method guidance in the mathematical simulation model can realize the attack process on the target.
Setting the same simulation parameters to be input into the semi-physical guidance simulation model for comparison with a simulation experiment result of a mathematical simulation model to carry out a simulation experiment;
the simulation parameters are unchanged: missile initial position (20,1, 0); initial speed 170 m/s; initial attitude anglePsi ═ 0, γ ═ 0; initial attitude angular velocityInitial ballistic inclination angle theta 2 DEG ballistic deflection angle psiV＝-1°。
Assuming that the target moves in the horizontal plane, an initial position (5000,0, 200); speed (20,0, 0).
The resulting simulation results are shown in fig. 9, 10 and 11;
FIG. 9 is a diagram of relative movement distance between a missile and a target in the semi-physical guidance simulation model simulation experiment process; FIG. 10 is a diagram of a variation process of the altitude angle of the aircraft and the altitude angle of the target sight line in the simulation experiment process of the semi-physical guidance simulation model, in FIG. 10, a curve M represents the altitude angle of the sight line of the aircraft (missile), a curve T represents the altitude angle of the target sight line, scheme guidance is adopted in the first 16 seconds to enable the aircraft to rise to a certain height, the ground falling situation caused by direct guidance by a three-point method is avoided, three-point guidance is adopted after the 16 seconds, it can be seen from FIG. 10 that after the aircraft is launched for 16 seconds, the aircraft is guided by the three-point method, the altitude angle of the aircraft is enabled to be rapidly drawn to the target altitude angle, and the altitude angle and the target altitude angle of the aircraft meet the altitude angle relation in the three-point guidance relation equation, that is, the altitude angle andM＝TFIG. 11 is a variation process of the missile sight azimuth and the target sight azimuth in the semi-physical guidance simulation model simulation experiment process, in FIG. 8, a curve M represents the azimuth of the aircraft (missile) sight, a curve T represents the azimuth of the target sight, and similarly, after the aircraft is launched for 16 seconds, the azimuth of the aircraft is rapidly drawn to the target azimuth, so that the aircraft azimuth and the target azimuth meet the azimuth relation in a three-point method guidance relation equation, namely βM＝βT(ii) a From the simulation results, three-point method simulation is realized through the semi-physical guidance simulation model, the simulation result of missile motion is consistent with the simulation result through the mathematical simulation model (comparing fig. 6 with fig. 9, comparing fig. 7 with fig. 10, and comparing fig. 8 with fig. 11), and the requirement of semi-physical simulation can be met.
Correspondingly, an embodiment of the present invention further provides a semi-physical guidance simulation system, as shown in fig. 12, including:
a multiple degree of freedom motion simulation platform 400;
the sighting device 100 of the guidance station is arranged on two axes of the multi-degree-of-freedom motion simulation platform 400;
the aircraft simulator 200 is arranged on any two axes of the multi-degree-of-freedom motion simulation platform 400 except for two axes for placing the sighting device 100;
a guidance system 300 connected to the viewer 100, the aircraft simulator 200, and the aircraft control system 600;
and the motion simulation control system 500 is connected with the multi-degree-of-freedom motion simulation platform 400 and the aircraft control system 600.
In theory, the degree of freedom of the multi-degree-of-freedom motion simulation platform 400 may be equal to or greater than 4, but a five-axis turntable is preferable. The present invention does not limit the specific type of the multi-degree-of-freedom motion simulation platform 400, which is determined according to the actual situation.
On the basis of the above embodiment, in an embodiment of the present invention, the viewing sight 100 is disposed on two of the inner three axes of the five-axis turntable;
the aircraft simulator 200 is arranged on the outer two shafts of the five-shaft rotary table.
However, in other embodiments of the present invention, the viewing device 100 may be disposed on two outer axes of the five-axis turret, and the aircraft simulator 200 may be disposed on two inner three axes of the five-axis turret. The present invention is not limited to this, and is determined by the actual situation.
On the basis of the above embodiment, in a preferred embodiment of the present invention, the semi-physical guidance simulation system further includes:
for a target to be observed by the viewer 100.
The target may be a light bulb or a target simulator. The invention is not limited to the specific type of the target, which is determined by the actual situation. Then in other embodiments of the present invention, the target for observation by the viewer 100 may be a virtual target generated by the motion simulation control system 500. The present invention is not limited to the specific form of the target, and the specific form is determined according to the actual situation.
To sum up, the embodiment of the present invention provides a semi-physical guidance simulation method and a simulation system, wherein the semi-physical guidance simulation method firstly places the view 100 of the guidance station on two axes of the multi-degree-of-freedom motion simulation platform 400, so as to simulate the angular position relationship between the view 100 and the target through the motion of the two axes of the multi-degree-of-freedom motion simulation platform 400, and uses the angular position relationship between the view 100 and the target as the target angle information by using the equivalent transformation principle; then, by placing the aircraft simulator 200 on any two axes of the multi-degree-of-freedom motion simulation platform 400 except for the two axes on which the observing and sighting device 100 is placed, the angular position relationship between the aircraft simulator 200 and the observing and sighting device 100 is changed through the motions of the two axes of the multi-degree-of-freedom motion simulation platform 400, and similarly, the angular position relationship between the aircraft simulator 200 and the observing and sighting device 100 is used as the aircraft angle information by using an equivalent transformation principle; finally, the guidance system 300 outputs a control instruction to the aircraft control system 600 according to the acquired target angle information, the aircraft angle information and the three-point method guidance relation equation, so that simulation of the guidance process of the guidance system which is not actively sought is realized, semi-physical simulation test of the function and the performance of the guidance system which is not actively sought is further achieved, manual control of the motion of the multi-degree-of-freedom motion simulation platform 400 is not needed in the semi-physical simulation test process, errors caused by manual operation are reduced, and the precision of the semi-physical simulation test of the function and the performance of the guidance system is improved.
In addition, after the semi-physical guidance simulation system utilized by the semi-physical guidance simulation method is simply converted and the motion simulation control system 500 is adjusted, the semi-physical simulation test requirements on the function and performance of the active guidance system can be met, so that the cost for performing the semi-physical simulation test on the guidance system is greatly reduced.
Further, the semi-physical guidance simulation system used by the semi-physical guidance simulation method only needs to meet the requirement of the area of the installation base of the multi-degree-of-freedom motion simulation platform 400, and the semi-physical guidance simulation system is usually less than 5 meters in length and occupies a small area.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A semi-physical guidance simulation method is characterized in that the method is applied to a semi-physical guidance simulation system comprising a guidance station, a guidance system, an aircraft control system, an aircraft simulator, a multi-degree-of-freedom motion simulation platform and a motion simulation control system; the semi-physical guidance simulation method comprises the following steps:
placing the sight of the guidance station on two shafts of the multi-degree-of-freedom motion simulation platform;
placing the aircraft simulator on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes on which the observing and aiming device is placed;
inputting target angle information to the motion simulation control system, and controlling the angular motion of the sighting device in two directions and the angular motion of the aircraft simulator in two directions by the motion simulation control system according to the target angle information;
acquiring aircraft angle information of the aircraft simulator through the guidance station;
and outputting a control instruction to the aircraft control system according to the target angle information, the aircraft angle information and the three-point method guidance relation equation.
2. The semi-physical guidance simulation method according to claim 1, wherein the target angle information includes a target elevation angle and a target azimuth angle;
the aircraft angle information includes an aircraft altitude and an aircraft azimuth.
3. The semi-physical guidance simulation method of claim 2, wherein the outputting a control command to the aircraft control system according to the target angle information, the aircraft angle information, and the three-point guidance relationship equation comprises:
judging whether the target altitude angle, the target azimuth angle, the aircraft altitude angle and the aircraft azimuth angle meet a three-point method guidance relation equation, if not, outputting a control instruction to the aircraft control system according to the relation between the target altitude angle and the aircraft altitude angle and the relation between the target azimuth angle and the aircraft azimuth angle;
the three-point method guidance relation equation is as follows:M＝T，βM＝βT(ii) a Wherein,Mrepresenting the high and low angles of the aircraft,TRepresenting the target elevation angle, βMRepresenting the aircraft azimuth angle, βTRepresenting the target azimuth.
4. The semi-physical guidance simulation method according to claim 1, wherein after outputting a control command to the aircraft control system according to the target angle information, the aircraft angle information and the three-point guidance relation equation, the method further comprises:
and after receiving the control instruction, the aircraft control system sends guidance information to the aircraft simulator according to the control instruction, so that the aircraft simulator adjusts a flight path according to the guidance information.
5. A semi-physical guidance simulation system, comprising:
a multi-degree-of-freedom motion simulation platform;
the observing and sighting devices are arranged on two shafts of the multi-degree-of-freedom motion simulation platform;
the aircraft simulators are arranged on any two axes of the multi-degree-of-freedom motion simulation platform except for the two axes for placing the sighting device;
a guidance system connected to the viewer, the aircraft simulator and the aircraft control system;
and the motion simulation control system is connected with the multi-degree-of-freedom motion simulation platform and the aircraft control system.
6. The semi-physical guidance simulation system according to claim 5, wherein the multi-degree-of-freedom motion simulation platform is a five-axis turntable;
the observing and aiming devices are arranged on two shafts of the inner three shafts of the five-shaft turntable;
the aircraft simulator is arranged on the outer two shafts of the five-shaft rotary table.
7. The semi-physical guidance simulation system of claim 5, further comprising:
a target for observation by the viewer.
8. The semi-physical guidance simulation system of claim 7, wherein the target is a physical target or a virtual target generated by the motion simulation control system.
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