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摘要:
地磁导航半实物仿真系统是地磁导航从理论走向工程应用的关键环节，而现阶段实时性是制约其发展的关键技术之一。针对这一问题，重点分析了系统中磁场模拟的延迟效应，建立了磁场模拟过程中电流随时间变化的数学模型，并基于此提出了一种基于超前调节的磁场模拟实时控制方法。仿真实验结果表明，初始调节电流增加18.43%的情况下，系统的实时性提高了5.45倍; 实测实验结果表明，初始调节电流增加18.57%的情况下，系统的实时性提高了3倍。本文提出的方法可以为地磁导航半实物仿真系统实时性的提高提供一种参考。
Abstract:The hardware in the loop simulation system of geomagnetic navigation is the key link of geomagnetic navigation from theory to engineering application. At the present stage, the real-time performance is one of the key technologies that restrict its development. To solve this problem, the delay effect of the magnetic field simulation in the system is analyzed emphatically, and the mathematical model of current versus time in magnetic field simulation is established. Then the real-time control method of magnetic field simulation based on advance regulation is proposed. The simulation experimental results show that when the initial control current is increased by 18.43%, the real-time performance of the system is increased by 5.45 times. And the test experimental results show that when the initial control current is increased by 18.57%, the real-time performance of the system is improved by 3 times. The method presented in this paper can provide a reference for improving the real-time performance of the hardware in the loop simulation system of geomagnetic navigation.
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图 2 地磁导航半实物仿真系统结构组成示意图
Figure 2. Schematic diagram of architecture of hardware in the loop simulation system for geomagnetic navigation
图 5 常规方法电流随时间的变化规律(仿真实验)
Figure 5. Change of current with time in conventional method (simulation experiment)
图 6 超前调节方法电流随时间的变化规律(仿真实验)
Figure 6. Change of current with time in advance regulation method (simulation experiment)
图 8 常规方法磁场随时间的变化规律(实测实验)
Figure 8. Change of magnetic field with time in conventional method (test experiment)
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