CN-116105770-B - Semi-physical simulation method of inertial measurement device

CN116105770BCN 116105770 BCN116105770 BCN 116105770BCN-116105770-B

Abstract

The invention relates to a semi-physical simulation method of an inertial measurement device, and belongs to the field of simulation tests. According to the method, through the method of changing the pitch angle stroke of the turntable, the singular point of turntable movement is avoided, and the problem that the change of the attitude angle of the aircraft cannot be simulated due to the fact that the turntable cannot provide movement of two degrees of freedom of yaw and roll in a singular angle range is solved. The method is consistent with the traditional simulation method in terms of simulation precision, does not influence the simulation effect, has good similarity with the actual external field environment, and has high simulation precision.

Inventors

ZHANG XIANG
ZHANG XIN
YAN XIAODONG
LIU MANGUO
LIU MINGXI
LIU MENGYAN
LIU QI
WANG XINGPING
WANG LEI
ZHU KEWEI
XIAO KUN

Assignees

西安现代控制技术研究所

Dates

Publication Date: 20260505
Application Date: 20221227

Claims (1)

1. The semi-physical simulation method of the inertial measurement device is characterized by comprising the following steps of: Step 1, an aircraft attitude motion signal is generated by an simulation computer and is output to a communication network, wherein the attitude motion signal comprises a pitch angle Yaw angle Roll angle Pitch angle speed wz, yaw angle speed wy, roll angle speed wx; step 2, a three-axis turntable load inertia measuring device receives a pitch angle given by an simulation computer from a communication network Yaw angle Roll angle And the three angles are used as pitch angles for controlling the posture movement of the three-axis turntable Yaw angle And roll angle Three instructions for controlling the motion of the three-axis turntable and simulating the attitude change in the flight process of the aircraft; step3, recording the pitch angle change range of the aircraft in the actual flight process as alpha-beta degrees, when the range of the three-axis turntable adjacent to the alpha degrees is singular, setting the maximum angle of the three-axis turntable without singular value as alpha ' °, and then carrying out alpha ' ° and alpha ' ° on the maximum angle Difference between Keeping the stroke of the pitch angle of the three-axis turntable unchanged, enabling the pitch angle of the three-axis turntable to move between alpha '° to (beta-delta alpha) °, adjusting the initial value of the pitch angle of the three-axis turntable to alpha 0 ' °, and respectively adjusting the initial values of the yaw angle and the roll angle of the three-axis turntable to be phi 0 °、γ 0 DEG, wherein the initial values of the yaw angle and the roll angle of the three-axis turntable are respectively For the changed pitch angle initial value of the three-axis turntable, , 、 Respectively the initial values of yaw angle and roll angle; Step 4, binding a pitch angle initial value theta 0 degrees into a measured inertial measurement device through a simulation information interface, and after the test is started, calculating an attitude motion signal, namely a pitch angle, of the aircraft in real time by a simulation computer Yaw angle Roll angle Simultaneously generating a three-axis turntable control instruction: (1) (2) (3) Wherein, in the formulas (1), (2) and (3) 、、 The method comprises the steps that in order to obtain an aircraft gesture motion signal through an inertial measurement device and control a pitch angle, a yaw angle and a roll angle command of the motion of a three-axis turntable, the three-axis turntable adjusts the motion gesture according to the command; Step 5, the data acquisition device acquires and records the instruction output result of the inertial measurement device and transmits the instruction output result to the data analysis computer, and the data analysis computer compares the instruction output by the inertial measurement device with the turntable pitch angle, turntable yaw angle, turntable roll angle, turntable pitch angle speed, turntable yaw angle speed and turntable roll angle speed information of the three-axis turntable in actual response to judge the accuracy of the inertial measurement device; In the step3, the pitch angle stroke of the three-axis turntable is recorded as Then = The three-axis turntable moves by eta DEG together when simulating the attitude angle change pitch angle of the aircraft; The pitch angle obtained by the inertial measurement unit in the step 4 Is calculated by the following formula: (4) Wherein, in the formula (4), Is the pitch angle initial value of the inertial measurement unit, The real-time pitch angle rate sensed by the angular velocity sensor in the inertial measurement unit, as can be seen from equation (4), Independent of instructions controlling the turntable, i.e. independent of formulas (1), (2) and (3), to cause Then the inertial measurement unit solves The simulation result is consistent with the actually obtained result by changing within the range of alpha degrees to beta degrees; In the step 3, when the range of the three-axis table adjacent to the beta degree appears singular, setting the maximum angle of the three-axis table without the singular value as beta '°, and then setting the difference between the beta' ° and the beta° Travel of pitch angle of rotation-protecting three-axis turntable The pitch angle of the three-axis turntable is enabled to move between (alpha+delta beta) degrees and beta' degrees, and the range of singular values of the three-axis turntable is avoided; When the range of the three-axis table close to beta degrees is singular, the initial values of the pitch angle, the yaw angle and the roll angle of the three-axis table are adjusted to alpha 0 ′°、ψ 0 °、γ 0 degrees To change pitch angle of three-axis turntable the pitch angle initial value after the stroke, , 、 Respectively binding a real pitch angle initial value theta 0 degrees into a measured inertial measurement device through a simulation information interface, simulating a computer to run a dynamics and kinematic model of the aircraft after the test is started, and resolving an attitude motion signal, namely a pitch angle, of the aircraft in real time Yaw angle Roll angle Simultaneously generating a turntable control instruction: (5) (6) (7) Wherein, in the formulas (5) - (7), 、、 Respectively controlling the pitch angle, yaw angle and roll angle of the turntable.

Description

Semi-physical simulation method of inertial measurement device Technical Field The invention belongs to the field of simulation tests, and particularly relates to a semi-physical simulation method of an inertial measurement device. Background The vertical three-axis turntable has the structural characteristics that the outer ring frame shaft is vertically upwards, the yaw angle movement of the corresponding aircraft is larger in yaw rotation range, and the vertical three-axis turntable is suitable for the simulation of the aircraft with a large yaw angle movement range. The vertical three-axis turntable body is provided with three independently-moving gyro ring frames, an inner ring frame shaft X is supported on a middle ring frame, the inner ring frame can freely rotate around the X axis, the middle ring frame is supported on an outer ring frame, a supporting shaft is a Z axis, and the Z axis is mutually perpendicular to the X axis. The outer ring frame is supported on the base of the platform body through a rotating shaft Y, and the middle ring frame and the inner ring frame are simultaneously driven to rotate when the outer ring frame rotates around the Y axis, so that the inner ring frame moves relative to the base of the platform body, namely, the inner ring frame moves at an attitude angle in the air corresponding to an axis-around coordinate system of the aircraft. By controlling the rotary motion of the three ring frames, the attitude angle motion of the aircraft in space can be completely reproduced by each ring frame. The vertical three-axis table coordinate system is shown in fig. 1. The outer ring frame shaft (yaw shaft) and the inner ring frame shaft (rolling shaft) of the vertical three-axis turntable are arranged in series, singular points can appear when the pitching shaft approaches to and reaches +/-90 degrees, generally, the singular points can appear between 80 degrees to 90 degrees or minus 90 degrees to minus 80 degrees (namely, the singular points can appear when the angle exceeds 80 degrees or is smaller than minus 80 degrees), and the angle range is called as a singular angle range. When the pitch angle moves within the singular angle range, the turntable cannot provide the movement of the degrees of freedom in the yaw direction and the roll direction due to the occurrence of singular points, so that the attitude angle movement of the aircraft in the angle range cannot be simulated, and the semi-physical simulation test of the inertial measurement device cannot be smoothly performed. Disclosure of Invention First, the technical problem to be solved The invention aims to solve the technical problem of how to provide a semi-physical simulation method of an inertial measurement device, which is used for solving the problem that the change of the attitude angle of an aircraft cannot be simulated because a turntable cannot provide the motion of two degrees of freedom of yaw and roll in a singular angle range. (II) technical scheme In order to solve the technical problems, the invention provides a semi-physical simulation method of an inertial measurement device, which comprises the following steps: step 1, an imitation computer generates an aircraft attitude motion signal, and outputs the aircraft attitude motion signal to a communication network, wherein the attitude motion signal comprises a pitch angle theta, a yaw angle phi, a roll angle gamma, a pitch angle speed wz, a yaw angle speed wy and a roll angle speed wx; The three-axis turntable load inertia measuring device receives a pitch angle theta, a yaw angle phi and a roll angle gamma which are given by an analog computer from a communication network, and takes the three angles as three instructions for controlling the three angles of the pitch angle theta zt, the yaw angle phi zt and the roll angle gamma zt of the three-axis turntable gesture movement, so as to control the three-axis turntable movement and simulate the gesture change in the flying process of the aircraft; Step 3, recording a pitch angle change range of the aircraft in an actual flight process as alpha-beta degrees, when a range of the three-axis turntable adjacent to the alpha degrees appears singular, setting a maximum angle of the three-axis turntable without singular values as alpha ' °, then keeping a difference value delta alpha= |alpha-alpha ' | between the alpha ' ° and alpha, keeping a stroke of the pitch angle of the three-axis turntable unchanged, enabling the pitch angle of the three-axis turntable to move between alpha ' ° to (beta-delta alpha) °, adjusting a pitch angle initial value of the three-axis turntable to alpha ' °, respectively adjusting a yaw angle and a roll angle initial value of the three-axis turntable to be phi 0°、γ0 degrees, wherein alpha ' 0 is a changed pitch angle initial value of the three-axis turntable, and alpha ' 0＝α-Δα,ψ0、γ0 is a yaw angle and a roll angle initial value respectively; Step 4, binding an initial pitch angle val