Design and implementation of a hardware-in-the-loop simulation system for interceptor composite control
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摘要:
为验证拦截弹直接力和气动力复合控制系统的功能性，构建一套半实物仿真系统，并开展了仿真验证。搭建拦截弹六自由度动力学数学模型；设计包含直接力控制、气动力控制及控制策略的复合控制系统；通过对系统架构、硬件型号、软件平台、数据交互网络等进行研究，构建小型半实物仿真系统，并进行了半实物仿真置信度评估。在多种拦截场景下，比较全数字仿真和半实物仿真复合控制的控制效果，验证了拦截弹复合控制系统的正确性和有效性，证明了构建的半实物仿真系统具备较高的置信度，可以用于算法和模型的验证。
Abstract:In order to verify the functionality of the composite control system of the interceptor, a hardware-in-the-loop simulation system was constructed, and simulation verification was carried out. Firstly, a six-degree-of-freedom dynamic mathematical model of the interceptor. Then the interceptor composite control system was designed, including a direct force control subsystem, an aerodynamic control subsystem and a composite control strategy based on the interception process analysis. We created a tiny hardware-in-the-loop simulation system and examined its confidence by looking at the hardware model, software platform, data interaction network, and system design. Lastly, the control effects of hardware-in-the-loop simulation and full digital simulation were compared under various interception scenarios. The results confirm the accuracy and efficacy of the interceptor's composite control system and demonstrate the high degree of confidence in the hardware-in-the-loop simulation system, which can be used to validate models and algorithms.
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图 11 半实物仿真系统通信网络架构
Figure 11. Communication network architecture of HIL simulation system
图 14 半实物仿真系统置信度评估体系
Figure 14. Confidence evaluation system for HIL simulation systems
图 15 拦截直线平飞高速目标拦截弹拦截轨迹
Figure 15. Interceptor trajectory variation during interception high-speed straight-line flying target
图 16 拦截直线平飞高速目标拦截弹姿态角变化
Figure 16. Interceptor attitude variation during interception high-speed straight-line flying target
图 17 拦截侧向平飞高速目标拦截弹轨迹
Figure 17. Interceptor trajectory variation during interception of high-speed sideways flying target
图 18 拦截侧向平飞高速目标拦截弹姿态角变化
Figure 18. Interceptor attitude variation during interception of high-speed sideways flying target
图 19 拦截侧向机动高速目标拦截弹轨迹
Figure 19. Interceptor trajectory variation during interception of high-speed lateral motion flying target
图 20 拦截侧向机动高速目标拦截弹姿态角变化
Figure 20. Interceptor attitude variation during interception of high-speed lateral motion flying target
表 1 数据流结构(实时仿真机至飞控计算机)
Table 1. Data flow structure (real time simulator to flight control computer)
字节序号 信号名称 字长/bit 备注 0 帧头1 8 0x55 1 帧头2 8 0xAA 2 数据长度 8 3～122 有效数据 30×32 123 校验和 8 [0x00,0xFF] 
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表 2 数据流结构(飞控计算机至实时仿真机)
Table 2. Data flow structure (flight control simulator to real time simulator)
字节序号 信号名称 字长/bit 备注 0 帧头1 8 0x55 1 帧头2 8 0xAA 2 数据长度 8 3～30 有效数据 7×32 31 校验和 8 [0x00, 0xFF]
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表 3 主要硬件延迟分析
Table 3. Major hardware latency analysis
硬件设备 计算效率/ms 通信延迟/ms 总延迟/ms 实时仿真机 1 7 35 飞控计算机 2 5 三轴转台 0.2 电动舵机 20
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表 4 2种仿真方式脱靶量对比
Table 4. Comparison of off-target volume between two simulation methods
拦截目标类型 FDS/m HIL/m 直线平方高速目标 0.86 1.21 侧向平飞高速目标 0.64 1.65 侧向机动高速目标 0.07 0.86
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