CN111578780B - Qt-based liquid rocket test and launch control system time sequence monitoring method - Google Patents
Qt-based liquid rocket test and launch control system time sequence monitoring method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 238000012360 testing method Methods 0.000 title abstract description 35
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000001788 irregular Effects 0.000 claims description 12
- 238000012856 packing Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 9
- 238000011161 development Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000013079 data visualisation Methods 0.000 description 2
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- 238000004806 packaging method and process Methods 0.000 description 2
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- 235000012633 Iberis amara Nutrition 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23255—Object oriented programming, OOP
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23263—C++
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Abstract
In order to solve the problem of poor portability of the conventional rocket test launch control system which adopts telemetering software based on a Windows platform to monitor flight data, the disclosure provides a liquid rocket test launch control system time sequence monitoring method based on Qt, and the portability of the rocket test launch control system is improved. The method comprises the following steps: sending an ignition instruction to a flight control machine on the arrow; receiving flight data sent by a flight control machine on an arrow; monitoring the time sequence position of the flight data, and displaying the flight data when the time sequence position changes; shunting the first data to a QCustomPlut drawing component, wherein the first data is data needing drawing in flight data; and controlling the QCustomPlut drawing component to carry out real-time drawing according to the first data. According to the technical scheme, the QCustomplot component is used for plotting to monitor data issued by the rocket flight control machine, so that the liquid rocket test, launch and control system has higher portability.
Description
Technical Field
The disclosure relates to the technical field of liquid carrier rockets, in particular to a liquid rocket test, launch and control system time sequence monitoring method based on Qt.
Background
The liquid rocket measurement and control system is used as a neural center for controlling rocket launching, overall manages all hardware resources matched with the ground measurement and control system, is an important component of a rocket system, and has key significance on the launching efficiency of the whole system in terms of stability and reliability. The liquid rocket test, launch and control system software is used for testing and launching tasks in testing and flying processes of laboratories, assembly plants, target ranges and the like, is responsible for executing all control commands of rocket test and launching processes, and displays and stores test results.
In the traditional rocket test launch control system, test launch control system software is mainly responsible for executing, displaying and storing test results of all control commands of rocket pre-launch test and launch processes, after ignition is completed, flight data is monitored by special remote measurement software in a time sequence mode, the existing remote measurement software Windows platform ecology is Microsoft system ecology development software in a development environment, such as VC, VS and other software, although the software has good operability and graphic development capability, the portability is poor, the Microsoft ecology is highly bound, and repeated development of the software is easily caused.
Disclosure of Invention
In order to solve at least one problem of the traditional rocket test, launch and control system, the invention provides a Qt-based liquid rocket test, launch and control system time sequence monitoring method, which realizes the time sequence monitoring of the liquid rocket test, launch and control system on flight data and improves the portability of the rocket test, launch and control system.
The utility model discloses a liquid rocket test launch control system time sequence monitoring method based on Qt, including:
sending an ignition instruction to a flying control machine on the arrow;
receiving flight data sent by the flight control machine on the arrow, wherein the flight data comprises a time sequence position;
monitoring the time sequence position of the flight data, and displaying the flight data when the time sequence position changes;
shunting first data to a QCustomPlut drawing component, wherein the first data is data needing drawing in the flight data;
and controlling a QCustomPlut drawing component to carry out real-time drawing according to the first data.
Optionally, the first data is shunted to a QCustomPlot drawing component via an ethernet protocol.
Optionally, the method further includes:
unpacking the flight data according to a preset first protocol, wherein the flight data is formed by packing data on an arrow according to the first protocol, and the first protocol comprises a data packing protocol and a data unpacking protocol; the data packet packing protocol comprises the steps of packing data packets to be packed according to set period data to form a first data packet, and setting a serial number for the first data packet according to a preset first rule; the data unpacking protocol includes unpacking the first data packet with the set number based on the first rule.
Optionally, the rocket data includes rocket state, valve state, servo state and attitude information.
Optionally, the set period is 10 ms.
Optionally, the first rule sets numbers according to a group packing time sequence of data to be packed. A
Optionally, the flight data includes state data;
optionally, the plotting the first data in real time by the QCustomPlot plotting component includes: and drawing and displaying by taking the serial number of the flight data as an X axis and the state data of the flight data as a Y axis.
Optionally, whether data are lost or not is judged according to the serial number of the flight data, and if the data are lost, the QCustomplot drawing component is controlled to identify the serial number of the lost data during drawing.
Optionally, the first rule is to set numbers according to a time sequence of preset time in the data to be packaged.
Optionally, the first rule is: and acquiring a first number from a preset irregular data number database according to the time sequence of the group package, and taking the first number as the number of the corresponding first data packet.
Has the advantages that: compared with the traditional rocket measurement and launch control system which adopts remote sensing software based on Windows to monitor the data issued by the rocket flight control machine, the technical scheme disclosed by the invention is based on QCustomPlut drawing components to draw so as to monitor the data issued by the rocket flight control machine, so that the liquid rocket measurement and launch control system has higher portability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a flowchart of a Qt-based liquid rocket test and launch control system timing monitoring method according to the present disclosure.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant matter and not restrictive of the disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, a liquid rocket measurement and launch control system timing monitoring method based on Qt includes:
step S1, an ignition instruction is sent to the flight control machine on the rocket;
step S2, receiving flight data sent by a flight control machine on the rocket, wherein the flight data comprises a time sequence position;
Step S3, monitoring the time sequence position of the flight data and displaying the flight data when the time sequence position changes;
step S4, shunting the first data to a QCustomPlut drawing component, wherein the first data is data needing drawing in the flight data;
and step S5, controlling the QCustomPlut drawing component to draw in real time according to the first data.
Qt in the application refers to a cross-platform C + + graphic user interface application program development framework developed by Qt Company, has good portability and expandability, and allows real component programming, and Qt is a graphic interface library with more powerful functions and rendering capabilities than GTK, KDE, MFC, OWL, VCL, ATL and the like. In addition, the Qt has rich API and a large amount of development documents, supports 2D/3D graphic rendering, supports OpenGL and supports XML design development; QCustomPlot is a Qt-based drawing and data visualization C + + control that is dedicated to provide an aesthetically pleasing interface, high quality 2D drawings, drawings and charts, while providing a good solution for real-time data visualization applications.
The liquid rocket testing, launching and controlling system disclosed by the embodiment is a liquid rocket testing, launching and controlling system developed based on Qt, and the liquid rocket testing, launching and controlling system time sequence monitoring method based on Qt disclosed by the embodiment is used for monitoring the action of each time point of a liquid rocket, and the time sequence monitoring is an important basis for judging the successful launching of the liquid rocket; on the other hand, the method disclosed by the invention distributes the data needing to be drawn in the flight data to the QCustomPlut drawing component, and the QCustomPlut drawing component draws the data needing to be drawn in the flight data so as to realize the monitoring of the flight data issued by the rocket flight control machine after the rocket is ignited, thereby facilitating the analysis of the rocket state index in the flight data. The method utilizes the transplantable characteristics of the Qt and QCustomPlut drawing components to ensure that the software of the liquid rocket test, launch and control system has higher transportability; and the main body part (non-QCustomplot drawing component part) of the liquid rocket measurement and launch control system software is isolated from drawing in a mode of shunting the data needing drawing in the flight data, so that the main body part of the liquid rocket measurement and launch control system software and the QCustomplot drawing component part are prevented from interfering with each other, and further, the data loss caused by the fact that the main body part of the liquid rocket measurement and launch control system software and the QCustomplot drawing component part occupy CPU resources is prevented.
Shunting in this disclosure refers to transferring portions of data from one operational device to another. According to the method, data needing drawing in flight data are transmitted to drawing equipment where the QCustomPlut drawing component is located in a shunting manner, drawing display is carried out by the QCustomPlut drawing component in the drawing equipment, the data processing pressure of the main body part of the liquid rocket testing and launching control system software is reduced, the fact that the equipment where the main body part of the liquid rocket testing and launching control system software is located can process the data in real time is guaranteed, and the fact that drawing of the QCustomPlut drawing component does not interfere with instruction receiving and responding of the main body part of the liquid rocket testing and launching control system software is guaranteed; and meanwhile, the main body part of the liquid rocket test, launch and control system software displays key data when the time sequence position changes, so that the main body part of the liquid rocket test, launch and control system software can monitor and display relational data.
Specifically, the first data is shunted to the QCustomPlot drawing component through the ethernet protocol, wherein, as can be appreciated, steps S1-S4 are performed by the liquid rocket test launch control system software body part. In this embodiment, the ethernet protocol is adopted to distribute the first data to the QCustomPlot drawing component, so that the drawing device where the QCustomPlot drawing component is located and the device where the main body part of the liquid rocket test and launch control system software is located are connected through the ethernet.
It can be known that the main body part of the liquid rocket test launch control system software can also send a control instruction to the rocket flight control machine according to the flight data when receiving the flight data.
It can be appreciated that the software of the liquid rocket test and launch control system of the present disclosure is developed based on Qt.
In an optional embodiment, the method further comprises: unpacking flight data according to a preset first protocol, wherein the flight data is formed after data on an arrow are packed according to the first protocol, and the first protocol comprises a data packing protocol and a data unpacking protocol; the data package protocol comprises the steps of packaging data to be packaged into a package according to set periodic data to form a first data package, and setting a serial number for the first data package according to a preset first rule; the data unpacking protocol includes unpacking the numbered first data packet based on a first rule.
In this embodiment, the flight data is data based on a first protocol package, and the first protocol includes protocol contents of periodically packaging packets and setting numbers, so that the liquid rocket test-launch control system software can periodically receive the flight data and judge whether the data is lost according to the numbers, as compared with other protocols. It is understood that the first protocol may include other protocol contents.
Specifically, the rocket-mounted data may include information sent by rocket-mounted devices matched with rocket states, valve states, servo states, attitude information and the like. The data to be mapped may include rocket state, rocket stage, valve state, attitude, and the like
Specifically, the set period may be set to 10 ms. The setting of the 10ms period can ensure the real-time performance of the data.
Specifically, the first rule may be: and setting numbers according to the group packing time sequence of the data to be packed.
In an alternative embodiment, the flight data includes status data; the real-time drawing of the first data by the QCustomPlot component comprises: and drawing and displaying by taking the serial number of the flight data as an X axis and the state data of the flight data as a Y axis. The state data may include rocket state, valve state, servo state, and the like. The serial number of the flight data is used as an X axis, the state data of the flight data is used as a Y axis for drawing and displaying, and a user can conveniently observe the data.
In an optional embodiment, whether the data is lost or not is judged according to the number of the flight data, and if the data is lost, the QCustomplott drawing component is controlled to identify the number of the lost data during drawing.
Further, in order to ensure the real-time performance of the data, the QCustomPlut drawing component does not feed back the data after receiving the first data. Because the flight data is low in probability of losing, and the flight data processing real-time requirement is high, the technical scheme that the data are lost through identification and the data are received without feedback is adopted, so that whether the data are lost or not can be visually observed by a worker, the back-and-forth interaction of the data can be reduced, and the real-time performance of system processing is ensured.
In an alternative embodiment, the first rule may be that the numbers are set in chronological order by a preset time within the data to be packaged. In this embodiment, the preset time in the data to be packaged may be time when the rocket-mounted flight control machine acquires data on a rocket.
In an alternative embodiment, the first rule is: and acquiring a first number from a preset irregular data number database according to the time sequence of the group package, and taking the first number as the number of the corresponding first data packet. The irregular data numbering library comprises the corresponding relation between the sequence numbers and the irregular numbers, such as 1 corresponding to 2,2 corresponding to 18,3 corresponding to 51, and 4 corresponding to 23; that is, the number of the data of the 1 st group is 2, the number of the data of the 2 nd group is 18, the number of the data of the 3 rd group is 51, and so on, wherein it can be known that the irregular numbers refer to numbers which are not mutually repeated and have no logical relationship, and when unpacking, the numbers need to be restored from an irregular data number library, for example, the data of the number 51 is restored to the original number 2, the data is analyzed from the original number 2, and the status data of the flight data is plotted and displayed as the Y axis based on the original number as the X axis. According to the scheme, on one hand, the interference effect can be achieved when the data are stolen, on the other hand, the processing efficiency of the system on the data is basically not affected because the irregular data number library contains the corresponding relation between the irregular data numbers and the sequence numbers, and on the other hand, the situation that when the data are lost and sent can be intuitively observed because the original numbers are used as the X axis during drawing display.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are provided merely for clarity of explanation and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (6)
1. A liquid rocket measurement and launch control system time sequence monitoring method based on Qt is characterized by comprising the following steps:
sending an ignition instruction to a flight control machine on the arrow;
receiving flight data sent by the flight control machine on the arrow, wherein the flight data comprises a time sequence position;
monitoring the time sequence position of the flight data, and displaying the flight data when the time sequence position changes;
unpacking the flight data according to a preset first protocol, wherein the flight data is formed by packing data on an arrow according to the first protocol, and the first protocol comprises a data packing protocol and a data unpacking protocol; the data packet packing protocol comprises the steps of packing data packets to be packed according to set period data to form a first data packet, and setting a serial number for the first data packet according to a preset first rule; the data unpacking protocol comprises unpacking the first data packet with the set number based on the first rule, and restoring the number according to an irregular data number library during unpacking;
The first rule is: acquiring a first number from a preset irregular data number library according to the time sequence of the group package, taking the first number as the number of a corresponding first data packet, wherein the irregular data number library comprises the corresponding relation between the sequence number and the irregular number;
shunting first data to a QCustomPlut drawing component, wherein the first data is unpacked data needing drawing in the flight data;
and controlling the QCustomPlut drawing component to carry out real-time drawing according to the first data.
2. The method of claim 1 wherein the first data is offloaded to a QCustomPlot drawing component via an ethernet protocol.
3. The method of claim 1, wherein the on-rocket data comprises rocket state, valve state, servo state, and attitude information.
4. The method of claim 1, wherein the set period is 10 ms.
5. The method of claim 1, wherein the flight data includes status data;
the controlling the QCustomPlut drawing component to draw the first data in real time comprises: and drawing and displaying by taking the serial number of the flight data as an X axis and the state data of the flight data as a Y axis.
6. The method of claim 1 wherein determining if data is lost is based on the number of flight data and if data is lost, controlling the QCustomPlot drawing component to identify the number of lost data when drawing.
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| US9156476B2 (en) * | 2012-10-02 | 2015-10-13 | Trevor O'Neill | System and method for remote control of unmanned vehicles |
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