滑翔弹一体化实时半实物仿真平台设计

Model-Based Design Research of Hardware-In-Loop Simulation of Flight Control System

摘要:

针对滑翔弹飞行控制系统半实物仿真平台研制中的两个关键问题—仿真实时性与一体化建模,建立了一套基于Windows操作系统的半实物仿真平台,开展了在较低成本的工业控制计算机上实现高效、实时的飞控系统半实物仿真研究。文中采取了Real Time Extension(RTX)插件扩展系统实时性的方案,既满足了仿真平台1ms精确定时的要求,又大幅降低仿真平台的成本；结合Simulink软件高效、安全的基于模型设计的解决方案,建立了扩展实时Windows系统下自动生成代码与手工代码混合编程的方法,重点解决了一体化建模方案在实时平台中的集成问题,并进行了仿真平台实时性能测试。最后完成了发射高度为海拔4 800 m,初始速度为202 m/s以及不同误差组合条件下的滑翔弹半实物仿真试验,整个飞行过程中侧滑角都稳定在-3度与3度之间,满足飞控系统稳定裕度要求。

Abstract:

Real-time and integrative-modeling are two essential problems in the research of Hardware-In-Loop Simulation (HILS) of gliding bomb. To resolve these problems at a low cost, the paper should establish a HILS platform based on the Windows system,investigate the method of HILS of high efficiency and real time. The paper adopts Real Time Extension(RTX) software to extend the real-time property of Windows system in order to satisfy the real-time request of 1 ms; At the same time, integrates Model-Based Design(MBD) of Simulink software to establish HILS platform under the extended system. The paper combines the automatic code and handwriting code in Visual Studio platform and the real-time property is tested. At last, the gliding bomb HILS experiment is tested under the height of 4 800 m and original velocity of 202 m/s, sideslip angle is between -3 and 3 deg within the whole flight which satisfying the request of stabilization.