CN106814596B - A kind of Hardware-in-the-Loop Simulation in Launch Vehicle test ground installation method for synchronizing time - Google Patents
A kind of Hardware-in-the-Loop Simulation in Launch Vehicle test ground installation method for synchronizing time Download PDFInfo
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- CN106814596B CN106814596B CN201710024941.2A CN201710024941A CN106814596B CN 106814596 B CN106814596 B CN 106814596B CN 201710024941 A CN201710024941 A CN 201710024941A CN 106814596 B CN106814596 B CN 106814596B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012360 testing method Methods 0.000 title claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims abstract description 34
- 238000005070 sampling Methods 0.000 claims description 46
- 230000001186 cumulative effect Effects 0.000 claims description 13
- 238000011897 real-time detection Methods 0.000 claims description 3
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- G—PHYSICS
- G04—HOROLOGY
- G04G—ELECTRONIC TIME-PIECES
- G04G7/00—Synchronisation
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
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Abstract
The invention discloses a kind of Hardware-in-the-Loop Simulation in Launch Vehicle to test ground installation method for synchronizing time, on with arrow in the system of clock source, synchronization signal controls equipment as bridge and completes the time synchronization of product and ground installation on arrow, on no arrow in the system of clock source, using synchronization signal control equipment clock source as the time synchronization between synchronised clock completion ground installation.This method solve more equipment, bring time irreversibility problem is emulated for a long time, is improved the validity and reliability of test, suitable for the semi-matter simulating system of multiclass difference communication modes, has been saved equipment cost.
Description
Technical field
The present invention relates to a kind of Hardware-in-the-Loop Simulation in Launch Vehicle to test ground installation method for synchronizing time, belongs to
Hardware-in-the-Loop Simulation in Launch Vehicle field.
Background technique
With the raising that the control precision and time precision of carrier rocket control field require, l-G simulation test is to product on arrow
It is also promoted therewith with the synchronism demand of ground installation.
The ground installation of Hardware-in-loop Simulation Experimentation includes replicating machine, used group simulator, servo analog device, the simulation of attitude control jet pipe
Numerous ground installations such as device, mixing console, data processing system.Since hardware reason clock is different between ground installation,
With the increase of simulation time, time deviation can also be significantly increased, if the timing of each equipment may deposit without Time Synchronization Mechanism
It can aggravate the inconsistency of each equipment timing in the increase of inconsistent phenomenon, and simulation time, l-G simulation test will be in uncertain
The confidence level of state, test seriously reduces.
In addition, active service rocket is due to using different mechanicss of communication, the synchronization signal interface that clock source uses on arrow is not yet
Together, cause ground Hardware-in-loop Simulation Experimentation that need to configure product on more set equipment and arrow and synchronize communication, at high cost, design is complicated
And reliability is low.
Summary of the invention
The technical solution of the invention is as follows: overcoming the deficiencies of the prior art and provide a kind of carrier space vehicle control system half
Matter emulation tests ground installation method for synchronizing time, the time synchronization being not only able to achieve between ground installation, but also is able to achieve on arrow
The time synchronization of product and ground installation.
Technology of the invention solves the problems, such as: a kind of Hardware-in-the-Loop Simulation in Launch Vehicle test ground installation time
Synchronous method includes the following steps:
(1) synchronization signal control equipment, and the interface board unified for each device configuration in ground are built；
(2) when ground carries out closed-loop simulation experiment, synchronization signal controls clock source on equipment real-time detection arrow, when on no arrow
(3) when clock source, are entered step, when clock source is 1553B signal on arrow, enter step (4), when clock source is simulation on arrow
When signal or rs 232 serial interface signal, (6) are entered step；
(3) it is the period to each equipment sending device sync break signal in ground that synchronization signal, which controls equipment using T, and ground is respectively set
After receiving equipment sync break signal, it is that synchronization signal controls equipment clock source time by time adjustment, realizes that ground is each
The time synchronization of equipment；
(4) synchronization signal control equipment obtains the 1553B synchronization signal of clock source on arrow using interrupt mode and is solved
Analysis, when 1553B synchronization signal command word be 1553B agreement as defined in time synchronization command word when, by the content of the synchronization signal
As clock source time on arrow, and by clock source time on arrow plus being sent to each equipment in ground after delay time t, while to ground
Each equipment in face sends sync break signal on arrow, enters step (5), and wherein t is delay time, which guaranteed on arrow
The time that the control signal on ground is sent completely；
(5) each equipment in ground receives on arrow after sync break signal, is corrected to the time, when updating formula is equipment
Between=arrow on clock source time+t, realize arrow on product and ground installation time synchronization；
(6) clock source analog signal or rs 232 serial interface signal on a synchronization signal control arrow of the every 1 millisecond of acquisition of equipment, work as sampling
When time is consistent with the sampling period being pre-designed, using the sampling period being pre-designed as clock source time on arrow, and by arrow
Upper clock source time is sent to each equipment in ground after adding delay time t, while each equipment sends sync break on arrow to the ground
Signal enters step (7)；
(7) each equipment in ground receives on arrow after sync break signal, is corrected to the time, when updating formula is equipment
Between=arrow on clock source time+t, realize arrow on product and ground installation time synchronization.
Synchronization signal control equipment include control module, clock integrated circuit boards, 1553B board, AD analog input card, serial ports board,
Reflective memory card, synchronous forwarding module and synchronization signal interface box；
Control module: enabling corresponding board according to clock source selection on arrow, when clock source is 1553B signal on arrow, makes
The MT function of energy 1553B board enables AD analog input card when clock source is analog signal on arrow, when clock source is string on arrow
When message, serial ports board is enabled, when clock source on no arrow, enables clock integrated circuit boards；
Clock integrated circuit boards: after enabled, millisecond clock is generated；
Reflective memory card: same to each equipment sending device in ground as the period using T on the basis of the millisecond clock of clock integrated circuit boards
Walk interrupt signal；
1553B board: when MT function enables, the 1553B synchronization signal of clock source on arrow is obtained using interrupt mode, is carried out
Command word and content are obtained after parsing, when command word be 1553B agreement as defined in time synchronization command word when, respective synchronization is believed
Number parsing after content be sent to synchronous forwarding module as clock source time on arrow；
AD analog input card: after enabled, every 1 millisecond acquires clock source simulation on an arrow by synchronization signal interface box
Signal, and stored counts is carried out to the number for collecting clock source analog signal on arrow, when according to being sent on cumulative frequency and arrow
The period of clock source analog signal, calculating sampling time will set in advance when the sampling time is consistent with the sampling period being pre-designed
The sampling period of meter is sent to synchronous forwarding module as clock source time on arrow；
Serial ports board: after enabled, every 1 millisecond acquires clock source serial ports letter on an arrow by synchronization signal interface box
Number, and stored counts is carried out to the number for collecting clock source rs 232 serial interface signal on arrow, according to tranmitting data register on cumulative frequency and arrow
The period of source rs 232 serial interface signal, calculating sampling time will be pre-designed when the sampling time is consistent with the sampling period being pre-designed
Sampling period be sent to synchronous forwarding module as clock source time on arrow；
Synchronous forwarding module: by clock source time on arrow plus each equipment in ground is transmitted in real time after delay time t, simultaneously
Each equipment sends sync break signal on arrow to the ground.
The AD analog input card calculates the formula in sampling time are as follows:
Simulation letter in tranmitting data register source on cumulative frequency × arrow when sampling time=receive clock source analog signal on arrow
Number period；
The subrack calorimeter calculates the formula in sampling time are as follows:
Tranmitting data register subject string message on cumulative frequency × arrow when sampling time=receive clock source rs 232 serial interface signal on arrow
Number period.
Compared with prior art, the invention has the following beneficial effects:
(1) the present invention provides the synchronous method of Hardware-in-loop Simulation Experimentation, in clock source on no arrow, synchronization signal transfer
Equipment provides synchronous clock source of the local clock as ground installation, is periodically corrected, eliminates to the ground installation time
Trueness error is controlled between distinct device caused by clock jitter, improves the validity and reliability of test；It is same on having arrow
It walks in the system of clock source as the bridge synchronous with ground installation of product on arrow, completes the time of product and ground installation on arrow
It is synchronous, it is adapted to the time synchronization of active service multiclass communication modes carrier rocket.
(2) synchronization signal control equipment of the present invention can receive the synchronous letter that all active service model carrier rocket clock sources issue
Number, each equipment in ground is equipped with the sync break signal that unified board receives synchronization signal control equipment, this measure is by polytypic
HWIL simulation synchronous method realized with a set of ground installation, simplify design, saved cost, improve reliability.
Detailed description of the invention
Fig. 1 for clock source on no arrow time synchronization schematic diagram；
Fig. 2 is the time synchronization schematic diagram for having clock source on arrow；
Fig. 3 is time synchronization flow chart.
Specific embodiment
The problem to be solved in the present invention is that clock source is provided in the semi-matter simulating system of synchronisation source is true not having on arrow
The time synchronization for protecting ground installation provides synchronous forwarding capability on having arrow, receives in the semi-matter simulating system of synchronisation source
Clock source time on arrow synchronizes ground installation.
The present invention first has to build synchronization signal control equipment, including control module, clock integrated circuit boards, 1553B board, AD are adopted
Collection board, serial ports board, reflective memory card, synchronous forwarding module and synchronization signal interface box, each board have drive
It is dynamic.
Control module: enabling corresponding board according to clock source selection on arrow, when clock source is 1553B interface on arrow, makes
The MT function of energy 1553B board enables AD analog input card and synchronous forwarding module when clock source is analog signal on arrow, when
When clock source is rs 232 serial interface signal on arrow, serial ports board and synchronous forwarding module are enabled, when clock source on no arrow, enables clock board
Card.
Clock integrated circuit boards: after enabled, millisecond clock is generated.
Reflective memory card: same to each equipment sending device in ground as the period using T on the basis of the millisecond clock of clock integrated circuit boards
Walk interrupt signal.
1553B board: when MT function enables, the 1553B synchronization signal of clock source on arrow is obtained using interrupt mode, is carried out
Command word and content are obtained after parsing, when command word be 1553B agreement as defined in time synchronization command word when, respective synchronization is believed
Number parsing after content be sent to synchronous forwarding module as clock source time on arrow.
AD analog input card: after enabled, every 1 millisecond acquires clock source simulation on an arrow by synchronization signal interface box
Signal, and stored counts is carried out to the number for collecting clock source analog signal on arrow, it is simulated whenever collecting clock source on arrow
When signal, according to the period of tranmitting data register source analog signal on cumulative frequency and arrow, the sampling time is calculated, when the sampling time and in advance
When the sampling period first designed is consistent, synchronous forwarding mould is sent to using the sampling period being pre-designed as clock source time on arrow
Block.
Wherein tranmitting data register source mould on cumulative frequency × arrow when sampling time=receive clock source analog signal on arrow
The period of quasi- signal.
Such as: setting the period of tranmitting data register source analog signal on arrow as 5ms, the sampling period being pre-designed is 1s, then AD is adopted
Collect board and collect clock source analog signal on an arrow every 5ms, collects clock source analog signal on arrow at the 200th time
When, sampling time=200 × 5ms=1s are sent to the sampling period 1s being pre-designed as clock source time on arrow at this time
Synchronous forwarding module.
Serial ports board: after enabled, every 1 millisecond acquires clock source serial ports letter on an arrow by synchronization signal interface box
Number, and stored counts is carried out to the number for collecting clock source rs 232 serial interface signal on arrow, believe whenever collecting clock source serial ports on arrow
Number when, according to the period of tranmitting data register source rs 232 serial interface signal on cumulative frequency and arrow, the sampling time is calculated, when the sampling time and in advance
When the sampling period of design is consistent, synchronous forwarding mould is sent to using the sampling period being pre-designed as clock source time on arrow
Block.
Wherein tranmitting data register subject string on cumulative frequency × arrow when sampling time=receive clock source rs 232 serial interface signal on arrow
The period of message number.
Synchronous forwarding module: by clock source time on arrow plus each equipment in ground is transmitted in real time after delay time t, simultaneously
Each equipment sends sync break signal on arrow to the ground.Wherein t is delay time, which guaranteed on arrow to ground
The time that control signal is sent completely, so that it is guaranteed that the signal that ground installation receives is current bat fresh signal rather than upper one claps
Signal.T is generally less than the period of tranmitting data register source signal on arrow, and the period with tranmitting data register source analog signal on arrow above is
5ms, for the sampling period being pre-designed is 1s, t should be greater than 1 millisecond, less than 5 milliseconds.
Synchronization signal control device periodically sends sync break signal to the whole network, and ground installation is equipped with and unites by the present invention
One reflective memory interface board, for receiving the sync break signal of synchronization signal control equipment, ground installation is received in this
It has no progeny and local zone time is corrected to synchronization time.The specific method is as follows:
(1) synchronization signal control equipment real-time detection arrow on clock source, when clock source on no arrow, into no arrow on clock
The ground installation time synchronization process in source:
As shown in left side in Fig. 3, when initialization, synchronization signal controls the clock integrated circuit boards of equipment, generates millisecond clock.Closed loop
It is the period to each equipment sending device sync break signal in ground with T (such as 1 second) when emulation.Each equipment in ground receives n-th
After receiving equipment sync break signal, it is N*T by time adjustment, realizes the time synchronization of each equipment in ground.Without clock source on arrow
Time synchronization schematic diagram it is as shown in Figure 1.
(2) when clock source is 1553B signal or analog signal or rs 232 serial interface signal on arrow, into the ground for having clock source on arrow
The time synchronization process of product in face equipment and arrow.
As shown in Fig. 3 right half part, when initialization, enable synchronizing signal controls the synchronization forwarding module of equipment, and according to
Clock source selection enables corresponding board on arrow.When closed-loop simulation, according to clock source signals type on arrow, it is divided into two kinds of situations:
When clock source is 1553B signal on arrow, synchronization signal controls equipment using clock source on interrupt mode acquisition arrow
1553B synchronization signal and parsed, when 1553B synchronization signal command word be 1553B agreement as defined in time synchronization order
When word, using the content of the synchronization signal as clock source time on arrow plus each equipment in ground is sent to after delay time t, simultaneously
Each equipment sends sync break signal on arrow to the ground, and each equipment in ground receives on arrow after sync break signal, will time school
Just it is clock source time+t on arrow, realizes the time synchronization of product and ground installation on arrow；
When clock source signals are analog signal or rs 232 serial interface signal on arrow, synchronization signal controls the every 1 millisecond of acquisition one of equipment
Clock source analog signal or rs 232 serial interface signal on secondary arrow will be set in advance when the sampling time is consistent with the sampling period being pre-designed
The sampling period of meter respectively sets as clock source time on arrow, by clock source time on arrow plus being sent to ground after delay time t
It is standby, while each equipment sends sync break signal on arrow to the ground.Each equipment in ground receives on arrow after sync break signal, will
Time adjustment is clock source time+t on arrow, realizes the time synchronization of product and ground installation on arrow, and wherein t is delay time,
The delay time is the time for guaranteeing to be sent completely the control signal on ground on arrow.There is the time synchronization principle of clock source on arrow
Figure is as shown in Figure 2.
At the end of closed-loop experiment, above-mentioned method for synchronizing time terminates.
A kind of Hardware-in-the-Loop Simulation in Launch Vehicle proposed by the present invention tests ground installation method for synchronizing time,
Clock source only needs in system synchronous between ground installation on no arrow, and synchronization signal controls equipment and provides local clock as ground
The synchronous clock source of equipment is periodically corrected the ground installation time, and it is cumulative can to effectively eliminate emulation bring for a long time
Deviation makes ground installation be in during complete test synchronous and knows beat, promotes the validity of Hardware-in-loop Simulation Experimentation
And reliability.
In addition, synchronization signal of the present invention control equipment on having arrow in the system of synchronous clock source as product on arrow with
The time reference on the synchronization bridge of ground installation, product and ground is synchronous clock source on arrow, completes product on arrow and sets with ground
Standby time synchronization.
Synchronization signal control equipment of the present invention can receive the synchronization signal that all active service model carrier rocket clock sources issue,
Each equipment in ground is equipped with the sync break signal that unified board receives synchronization signal control equipment, this measure is by the half of polytypic
Matter emulation synchronous method is realized with a set of ground installation, is simplified design, has been saved cost, improves reliability.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (4)
1. a kind of Hardware-in-the-Loop Simulation in Launch Vehicle tests ground installation method for synchronizing time, it is characterised in that including such as
Lower step:
(1) synchronization signal control equipment, and the interface board unified for each device configuration in ground are built；
(2) when ground carries out closed-loop simulation experiment, synchronization signal controls clock source on equipment real-time detection arrow, when clock on no arrow
(3) when source, are entered step, when clock source is 1553B signal on arrow, enter step (4), when clock source is analog signal on arrow
Or when rs 232 serial interface signal, (6) are entered step；
(3) it is the period to each equipment sending device sync break signal in ground that synchronization signal, which controls equipment using T, and each equipment in ground connects
After receiving equipment sync break signal, it is that synchronization signal controls equipment clock source time by time adjustment, realizes each equipment in ground
Time synchronization；
(4) synchronization signal control equipment obtains the 1553B synchronization signal of clock source on arrow using interrupt mode and is parsed, when
When 1553B synchronization signal command word is time synchronization command word as defined in 1553B agreement, using the content of the synchronization signal as arrow
Upper clock source time, and it is sent to each equipment in ground after clock source time on arrow is added delay time t, while respectively setting to the ground
Preparation send sync break signal on arrow, enters step (5), and wherein t is delay time, which guaranteed on arrow to ground
Time for being sent completely of control signal；
(5) each equipment in ground receives on arrow after sync break signal, is corrected to the time, updating formula be the equipment time=
Clock source time+t on arrow realizes the time synchronization of product and ground installation on arrow；
(6) clock source analog signal or rs 232 serial interface signal on a synchronization signal control arrow of the every 1 millisecond of acquisition of equipment, work as the sampling time
When consistent with the sampling period being pre-designed, using the sampling period being pre-designed as clock source time on arrow, and when by arrow
Clock source time is sent to each equipment in ground after adding delay time t, while each equipment sends sync break signal on arrow to the ground,
Enter step (7)；
(7) each equipment in ground receives on arrow after sync break signal, is corrected to the time, updating formula be the equipment time=
Clock source time+t on arrow realizes the time synchronization of product and ground installation on arrow.
2. a kind of Hardware-in-the-Loop Simulation in Launch Vehicle according to claim 1 tests ground installation time synchronization side
Method, it is characterised in that: it includes control module, clock integrated circuit boards, 1553B board, AD analog input card, serial ports that synchronization signal, which controls equipment,
Board, reflective memory card, synchronous forwarding module and synchronization signal interface box；
Control module: enabling corresponding board according to clock source selection on arrow, when clock source is 1553B signal on arrow, enables
The MT function of 1553B board enables AD analog input card when clock source is analog signal on arrow, when clock source is serial ports on arrow
When signal, serial ports board is enabled, when clock source on no arrow, enables clock integrated circuit boards；
Clock integrated circuit boards: after enabled, millisecond clock is generated；
Reflective memory card: on the basis of the millisecond clock of clock integrated circuit boards, using T as the period each equipment sending device in ground is synchronized
Break signal；
1553B board: when MT function enables, the 1553B synchronization signal of clock source on arrow is obtained using interrupt mode, is parsed
After obtain command word and content, when command word be 1553B agreement as defined in time synchronization command word when, by respective synchronization signal solution
Content after analysis is sent to synchronous forwarding module as clock source time on arrow；
AD analog input card: after enabled, every 1 millisecond acquires clock source simulation letter on an arrow by synchronization signal interface box
Number, and stored counts is carried out to the number for collecting clock source analog signal on arrow, according to tranmitting data register on cumulative frequency and arrow
The period of source analog signal, calculating sampling time will be pre-designed when the sampling time is consistent with the sampling period being pre-designed
Sampling period be sent to synchronous forwarding module as clock source time on arrow；
Serial ports board: after enabled, every 1 millisecond acquires clock source rs 232 serial interface signal on an arrow by synchronization signal interface box,
And stored counts is carried out to the number for collecting clock source rs 232 serial interface signal on arrow, according to tranmitting data register subject string on cumulative frequency and arrow
The period of message number, calculating sampling time adopt when the sampling time is consistent with the sampling period being pre-designed by what is be pre-designed
The sample period is sent to synchronous forwarding module as clock source time on arrow；
Synchronous forwarding module: by clock source time on arrow plus being transmitted to each equipment in ground after delay time t in real time, while to ground
Each equipment in face sends sync break signal on arrow.
3. a kind of Hardware-in-the-Loop Simulation in Launch Vehicle according to claim 2 tests ground installation time synchronization side
Method, it is characterised in that: the AD analog input card calculates the formula in sampling time are as follows:
Tranmitting data register source analog signal on cumulative frequency × arrow when sampling time=receive clock source analog signal on arrow
Period.
4. a kind of Hardware-in-the-Loop Simulation in Launch Vehicle according to claim 2 tests ground installation time synchronization side
Method, it is characterised in that: the subrack calorimeter calculates the formula in sampling time are as follows:
Tranmitting data register source rs 232 serial interface signal on cumulative frequency × arrow when sampling time=receive clock source rs 232 serial interface signal on arrow
Period.
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| CN110824891B (en) * | 2019-11-15 | 2021-03-16 | 上海航天控制技术研究所 | Semi-physical simulation time correction system and method suitable for double-star formation |
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| CN202815819U (en) * | 2012-07-30 | 2013-03-20 | 中国航天科工集团第三研究院第八三五七研究所 | Distributed testing device based on LXI (LAN extensions for instrumentation) bus architecture |
| CN104950688A (en) * | 2014-03-27 | 2015-09-30 | 南京理工大学 | Distributed transfer alignment semi-physical simulation system and method thereof |
| CN107026703A (en) * | 2017-05-19 | 2017-08-08 | 北京航天自动控制研究所 | A kind of tandem type method for synchronizing time in hybrid network |
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| US20030093703A1 (en) * | 2001-11-09 | 2003-05-15 | Adc Dsl Systems, Inc. | Multiple dataport clock synchronization |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202815819U (en) * | 2012-07-30 | 2013-03-20 | 中国航天科工集团第三研究院第八三五七研究所 | Distributed testing device based on LXI (LAN extensions for instrumentation) bus architecture |
| CN104950688A (en) * | 2014-03-27 | 2015-09-30 | 南京理工大学 | Distributed transfer alignment semi-physical simulation system and method thereof |
| CN107026703A (en) * | 2017-05-19 | 2017-08-08 | 北京航天自动控制研究所 | A kind of tandem type method for synchronizing time in hybrid network |
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