CN-122018357-A - Unmanned aerial vehicle fly-pipe system digital virtual prototype and design and simulation method thereof

CN122018357ACN 122018357 ACN122018357 ACN 122018357ACN-122018357-A

Abstract

The invention relates to the field of unmanned aerial vehicle system testing, and discloses a digital virtual prototype of a unmanned aerial vehicle fly-pipe system and a design and simulation method thereof. The digital virtual prototype of the fly tube system is a virtual prototype capable of being deployed in redundancy and comprises an interface module, a redundancy module, a control law module, a guidance law module, a task execution module and a synchronization module, wherein the interface module integrates all external interfaces involved in the management of the real object fly tube computer platform equipment to finish external interaction of signals, the redundancy module, the control law module and the guidance law module respectively finish the redundancy management, the control law algorithm and the transplantation of the guidance law algorithm in the real object fly tube computer and interact with the interface module, the task execution module finishes the transplantation of Bit linkage logic and a task scheduling related algorithm of the real object fly tube computer to realize the periodic operation of the virtual prototype, and the synchronization module is used for simulating hardware to provide accurate clock signals and ensure the synchronism among the virtual prototypes.

Inventors

LI CHEN
Pang Yahua
WANG WEI
CHEN LU
DING HONG
FENG YIWEI

Assignees

中国航空工业集团公司西安飞行自动控制研究所

Dates

Publication Date: 20260512
Application Date: 20251227

Claims (8)

1. The unmanned aerial vehicle flywheel system digital virtual prototype is characterized by comprising an interface module, a redundancy module, a control law module, a guidance law module, a task execution module and a synchronization module; The interface module integrates all external interfaces involved in the management of the physical flight tube computer platform equipment to finish the external interaction of signals; The redundancy module, the control law module and the guidance law module respectively complete the redundancy management, the control law algorithm and the guidance law algorithm transplantation in the real object flight tube computer and interact with the interface module; the task execution module completes the migration of the Bit chain logic and the task scheduling related algorithm of the real object flight tube computer, and realizes the periodic operation of the virtual prototype; The synchronization module is used for simulating hardware to provide accurate clock signals and guaranteeing the synchronicity among the virtual prototypes.
2. A method for designing a digital virtual prototype of a unmanned aerial vehicle (unmanned aerial vehicle) system, comprising: 1) Firstly, an embedded system and an internal bus in a real object fly-pipe computer are modified, the fly-pipe original code and related functions are separated from hardware and the system, shielding is carried out, only actual functions are reserved, and modified function functions are obtained; 2) Secondly, the Bit linkage logic in the real object fly tube computer recalls the modified function functions, so that various self-checking logics of the unmanned aerial vehicle fly tube system are realized, and a self-checking task part of the virtual prototype task execution frame module is formed; 3) Mapping hardware address offsets of different external devices in platform device management in a real object flight management computer to network offsets, and carrying out unified package of data to realize that the original bus transceiving of various external devices is changed into network UDP sending and receiving, so as to form an interface module part of a virtual prototype; 4) The control law module and the guidance law module of the virtual prototype are formed by recalling the modified function functions in the guidance law and control law parts in the real object flight tube computer, and the remote control and remote measurement part of the virtual prototype task execution framework module is formed by recalling the modified function functions in the real object flight tube computer.
3. The method for designing a digital virtual prototype of a unmanned aerial vehicle (unmanned aerial vehicle) system according to claim 2, further comprising: 5) The virtual prototype task execution framework dispatches the self-checking task part, the remote control and telemetering part, the control law module and the guidance law module again according to the original periodic task flow of the real object flight tube computer to form a complete flight tube computer periodic task, and carries out real-time data interaction with the unmanned aerial vehicle virtual simulation system through the interface module.
4. A method of designing a digital virtual prototype of an unmanned aerial vehicle (unmanned aerial vehicle) according to claim 3, wherein when the virtual prototype is redundant, the method further comprises: the redundancy management in the real object flight tube computer calls the modified function to form a redundancy module of the unmanned aerial vehicle virtual digital prototype; and the redundancy module completes redundancy voting tasks and fault result reporting of the redundancy virtual prototype.
5. The method for designing a digital virtual prototype of an Unmanned Aerial Vehicle (UAV) according to claim 4, the design method is characterized in that when the virtual prototype is a redundancy virtual prototype, the design method further comprises the following steps: and designing a strong timing clock service, simulating the fly pipe hardware to provide accurate clock signals and mapping the accurate clock signals to corresponding shared memory addresses, and enabling a task execution framework to run and scan the shared memory addresses so as to ensure the synchronization of task execution among all single-redundancy virtual prototypes.
6. The simulation method of the unmanned aerial vehicle fly-pipe system digital virtual prototype is characterized by being realized by an unmanned aerial vehicle virtual simulation system, wherein the unmanned aerial vehicle virtual simulation system comprises an aircraft simulation module, a digital model module, a remote control telemetry module, an automatic test module and a data acquisition analysis module; The data acquisition analysis module and the remote control telemetry module are communicated with the virtual prototype through UDP and are sent to an internal shared memory network, partial data enter various unmanned aerial vehicle external sensor models in the digital model module and interact with the aircraft simulation module to execute an aircraft closed-loop task, and the automatic test module calls unmanned aerial vehicle data through the shared memory to execute various test experiments to form a test report.
7. The simulation method of the digital virtual prototype of the unmanned aerial vehicle flywheel system according to claim 6, wherein the simulation method of the digital virtual prototype specifically comprises the following steps: 1) The data acquisition analysis module firstly communicates with the interface module of the virtual prototype through a UDP protocol, extracts a periodic data packet 1 from the shared memory and sends the periodic data packet to the interface module of the virtual prototype, and receives the periodic data packet 2 sent by the interface module of the virtual prototype to map to the shared memory for other modules to use; 2) The digital model module simulates the electrical and mathematical characteristics of various onboard sensors to form transfer functions, combines data in a shared memory network to generate the input of an airplane model, and maps the input into the shared memory; 3) The remote control and telemetry module is communicated with the interface module of the virtual prototype through a UDP protocol to form a remote control data packet and a telemetry data packet, remote control of the unmanned aerial vehicle is realized, the transmission of an aircraft control law test instruction of the unmanned aerial vehicle is completed, and the remote control and telemetry module maps all data into a shared memory for other modules to use; 4) The aircraft simulation module is used for calling input data of various sensors generated by mapping of the digital model module in the shared memory through loading an actual aircraft 6 degree of freedom model, generating various operation instructions, mapping the operation instructions into the shared memory, and interacting with the virtual prototype through the data acquisition analysis module to finish the test of the closed-loop test item of the unmanned aerial vehicle.
8. The method for simulating a digital virtual prototype of an unmanned aerial vehicle (unmanned aerial vehicle) according to claim 7, wherein when the simulation of the redundant virtual prototype is performed, the method further comprises: The automatic test module converts the test items of the redundant virtual prototype into a python script, acquires data to be tested through the shared memory, calls the test script, completes automatic test, and outputs a corresponding test report.

Description

Unmanned aerial vehicle fly-pipe system digital virtual prototype and design and simulation method thereof Technical Field The invention relates to the field of unmanned aerial vehicle system testing, in particular to a digital virtual prototype of a unmanned aerial vehicle fly-pipe system and a design and simulation method thereof. Background In the ground test process, the unmanned aerial vehicle fly-pipe system mainly utilizes a semi-physical test bench environment, and has the problems of long system iteration period, low fault injection coverage rate, complex software functions, incapability of traversing system tests, difficult realization of special tests (performance boundary, destructive test and the like), high cost of a physical prototype and the like. Disclosure of Invention The invention mainly solves the technical problems of providing a digital virtual prototype of an Unmanned Aerial Vehicle (UAV) and a design and simulation method thereof, which are used for the virtual design and simulation of the UAV, and the method can improve the research and development efficiency of the UAV, and solves the problems that the UAV is difficult to traverse system test and special test is difficult to realize aiming at the characteristic of complex functions of the UAV. The invention provides a digital virtual prototype of a Unmanned Aerial Vehicle (UAV) system, which is a virtual prototype capable of being deployed in redundant mode and comprises an interface module, a redundancy module, a control law module, a guidance law module, a task execution module and a synchronization module; The interface module integrates all external interfaces involved in the management of the physical flight tube computer platform equipment to finish the external interaction of signals; The redundancy module, the control law module and the guidance law module respectively complete the redundancy management, the control law algorithm and the guidance law algorithm transplantation in the real object flight tube computer and interact with the interface module; the task execution module completes the migration of the Bit chain logic and the task scheduling related algorithm of the real object flight tube computer, and realizes the periodic operation of the virtual prototype; The synchronization module is used for simulating hardware to provide accurate clock signals and guaranteeing the synchronicity among the virtual prototypes. The invention also provides a design method of the digital virtual prototype of the fly-pipe system, which comprises the following steps: 1) Firstly, an embedded system and an internal bus in a real object fly-pipe computer are modified, the fly-pipe original code and related functions are separated from hardware and the system, shielding is carried out, only actual functions are reserved, and modified function functions are obtained; 2) Secondly, the Bit linkage logic in the real object fly tube computer recalls the modified function functions, so that various self-checking logics of the unmanned aerial vehicle fly tube system are realized, and a self-checking task part of the virtual prototype task execution frame module is formed; 3) Mapping hardware address offsets of different external devices in platform device management in a real object flight management computer to network offsets, and carrying out unified package of data to realize that the original bus transceiving of various external devices is changed into network UDP sending and receiving, so as to form an interface module part of a virtual prototype; 4) The control law module and the guidance law module of the virtual prototype are formed by recalling the modified function functions in the guidance law and control law part in the real object flight tube computer; 5) And finally, the virtual prototype task execution framework dispatches the self-checking task part, the remote control and telemetering part, the control law module and the guidance law module again according to the original periodic task flow of the real object flight tube computer to form a complete flight tube computer periodic task, and performs real-time data interaction with the unmanned aerial vehicle virtual simulation system through the interface module. Further, when the virtual prototype is redundant, the design method further includes: the redundancy management in the real object flight tube computer calls the modified function to form a redundancy module of the unmanned aerial vehicle virtual digital prototype; and the redundancy module completes redundancy voting tasks and fault result reporting of the redundancy virtual prototype. Further, when the virtual prototype is redundant, the design method further includes: and designing a strong timing clock service, simulating the fly pipe hardware to provide accurate clock signals and mapping the accurate clock signals to corresponding shared memory addresses, and enabling a task execution framework to run and scan the