半实物仿真中三轴转台姿态运动相似性研究

陈凯; 董凯凯; 陈朋印; 于云峰

doi:10.13433/j.cnki.1003-8728.2016.1224

半实物仿真中三轴转台姿态运动相似性研究

doi: 10.13433/j.cnki.1003-8728.2016.1224

1.
西北工业大学航天学院, 西安 710072

基金项目:

国家安全重大基础研究项目（973）、航天科技创新基金项目及航天技术支撑基金项目（2013-HT-XGD-15）资助

详细信息

作者简介:
陈凯(1976-),副教授,博士,研究方向为惯性导航和组合导航,chenkai@nwpu.edu.cn

计量
- 文章访问数: 105
- HTML全文浏览量: 13
- PDF下载量: 6
- 被引次数: 0
出版历程
- 收稿日期: 2015-05-21
- 刊出日期: 2017-01-05

Attitude Similarity of Three-axis Flight Motion Simulator in Hardware-in-the-Loop Simulation

1.
School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China

摘要

摘要: 讨论了在飞行器半实物仿真中，三轴转台的指令姿态角与框架角的理论关系，使转台指令角速率与转台输出的框架角速率相匹配，达到真正的姿态运动相似性，实现飞行器的精确姿态模拟。首先，介绍了飞行器的坐标系和姿态角、转台的坐标系和姿态角、以及两种三轴转台（立式三轴转台和卧式三轴转台）的驱动方程和姿态微分方程。说明了姿态相似性的本质是转台框架输出角速率复现弹体理论角速率，进而使姿态矩阵相似。提出的姿态矩阵相似性方法，理顺了飞行器姿态角与转台框架角之间的关系，有效消除了转台环架结构的影响。数字仿真表明，在转台指令姿态角设置时，转台环架结构影响了理论角速率复现；提出的方法实现了两种三轴转台姿态运动的相似性。半实物仿真说明，研究的方法有效解决了高超声速飞行器飞控半实物仿真系统中姿态运动相似性问题。
- 半实物仿真 /
- 三轴转台 /
- 台体结构 /
- 惯性导航 /
- 高超声速飞行器
Abstract: The relationship between instruction attitude angles and gimbal angles of three-axis turntable in the missile hardware-in-the-loop (HWIL) simulation is studied. To achieve the real attitude motion similarity, a method is proposed to make the gimbal output angular rate match with the turntable instruction angular rate all the time to realize the accurate simulation of missile attitude. Firstly, the coordinate system and attitude angles of missile, the coordinate system and attitude angles of turntable, and drive equation and attitude differential equation of two kinds of three-axis turntable (flight motion simulator based on vertical or horizontal outer axis stand) are introduced. The essence of attitude similarity is that the turntable output angular rate recurrent missile theoretical angular rate, and thus make the two attitude matrix similar. A horizontal turntable attitude angles setting method considering turntable rotation order that can ensure the attitude matrix similar any time is proposed. The method of attitude matrix similarity proposed definitudes the relationship between the missile attitude angles and gimbal angles of turntable, which can eliminate the bad effect of the improper gimbal structure of three-axis turntable effectively. The digital simulation result indicates that turntable gimbal structure has influence on recurrenting the theoretical angular rate when setting turntable instruction attitude angles and the proposed attitude angles setting method achieves attitude motion similarity. The HWIL simulation indicates the proposed method can solve the problem of attitude motion similarity efficiently in the HWIL simulation of hypersonic vehicle.
- hardware-in-the-loop simulation /
- three-axis flight motion simulator /
- gimbal structure /
- inertial navigation /
- hypersonic vehicle

HTML全文

参考文献(15)

[1]	Tam H, Liu H H T. Hardware-in-the-loop simulation for an UAV example[C]//AIAA Modeling and Simulation Technologies Conference and Exhibit. San Francisco, California: American Institute of Aeronautics and Astronautics, 2005:6103
[2]	Chang X F, Yang T, Yan J, et al. Design and integration of hardware-in-the-loop simulation system for certain missile[C]//International Conference, ICSC 2012. Berlin Heidelberg: Springer Verlag, 2012:229-237
[3]	Bahm C, Baumann E, Bose D, et al. The X-43A Hyper-X Mach 7 flight 2 guidance, navigation, and control overview and flight test results[C]//Proceedings of the AIAA/CIRA 13th International Space Planes and Hypersonics Systems and Technologies. AIAA-2005-3275. Capua, Italy: AIAA, 2005
[4]	Peebles C. Eleven seconds into the unknown: a history of the hyper-X program[M]. Reston, Va: AIAA, 2011
[5]	McCarth T R, Campbell T T, Moseley P E. A generic common simulation framework based starting point for missile 6DOF simulations[C]//AIAA Modeling and Simulation Technologies Conference and Exhibit. San Francisco, California: AIAA, 2005:5887
[6]	王圣洁,康凤举,韩翃.AUV组合导航半实物仿真系统关键技术研究[J].声学技术,2011,30(4):4-6 Wang S J, Kang F J, Han H. Research on hardware-in-the-loop simulation system for integrated navigation system of AUV[J]. Technical Acoustics, 2011,30(4):4-6 (in Chinese)
[7]	符文星,彭勤素.程控试飞器半实物仿真系统研究[J].固体火箭技术,2009,32(2):127-130 Fu W X, Peng Q S. Hardware in loop simulation system for program-controlled flight-test vehicle[J]. Journal of Solid Rocket Technology, 2009,32(2):127-130 (in Chinese)
[8]	刘敏,王保成,刘藻珍.航弹SINS/GPS组合导航系统半实物仿真试验设计[J].北京理工大学学报,2004,24(6):472-476 Liu M, Wang B C, Liu Z Z. Design of a hardware-in-the-loop simulation system for SINS/GPS of air ammunition[J]. Transactions of Beijing Institute of Technology, 2004,24(6):472-476 (in Chinese)
[9]	何秋茄.半实物仿真中转台指令的形成[J].系统工程与电子技术,1990,(6):48-52,80 He Q R. Formulation of the flight-table command in hardware-in-the-loop simulation[J]. Systems Engineering and Electronics, 1990,(6):48-52,80 (in Chinese)
[10]	朱士青.试验室实现寻的制导半实物仿真的一个技术问题研究[J].上海航天,1997,(6):29-32 Zhu S Q. A technical study for fulfilment of homing guidance semi-objective simulation in laboratory[J]. Aerospace Shanghai, 1997,(6):29-32 (in Chinese)
[11]	单家元,孟秀云,丁艳,等.半实物仿真二[M].2版.北京:国防工业出版社,2013 Shan J Y, Meng X Y, Ding Y, et al. Hardware-in-the-Loop Simulation[M]. 2 edition. Beijing: National Defence Industry Press, 2013 (in Chinese)
[12]	李艳波,曾鸣.三轴转台误差源对陀螺加速度表测试的影响[J].航空精密制造技术,2008,44(2):28-31 Li Y B, Zeng M. Influence of three-axis turntable error source on pendulous integrating gyro accelerometer testing[J]. Aviation Precision Manufacturing Technology, 2008,44(2):28-31 (in Chinese)
[13]	闫杰,于云峰,凡永华,等.吸气式高超声速飞行器控制技术[M].西安:西北工业大学出版社,2015 Yan J, Yu Y F, Fan Y H, et al. Flight control technology of air-breathing hypersonic vehicle[M]. Xi'an: Northwestern Polytechnical University Press, 2015 (in Chinese)
[14]	徐平,王伟,林德福,等.基于无人机平台的制导控制半实物仿真系统研究[J].中北大学学报(自然科学版),2012,33(4):420-424 Xu P, Wang W, Lin D F, et al. Research on guidance and control of hardware-in-loop simulation system based on UAV[J]. Journal of North University of China(Natural Science Edition), 2012,33(4):420-424 (in Chinese)
[15]	陈凯,卫凤,张前程,等.基于飞行力学的惯导轨迹发生器及其在半实物仿真中的应用[J].中国惯性技术学报,2014,22(4):486-491 Chen K, Wei F, Zhang Q C, et al. Trajectory generator of SINS on flight dynamics with application in hardware-in-the-loop simulation[J]. Journal of Chinese Inertial Technology, 2014,22(4):486-491 (in Chinese)