半实物仿真惯组输出模拟及转台姿态补偿方法

doi:10.12305/j.issn.1001-506X.2022.04.31

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (4): 1329-1335.doi: 10.12305/j.issn.1001-506X.2022.04.31

半实物仿真惯组输出模拟及转台姿态补偿方法

周国峰^1,², 陈喆^1,*, 吕瑞¹, 涂海峰¹, 徐珊¹

1. 中国运载火箭技术研究院战术武器事业部, 北京 100076
2. 南京航空航天大学航空学院, 江苏南京 210016

收稿日期:2021-09-21 出版日期:2022-04-01 发布日期:2022-04-01
通讯作者: 陈喆
作者简介:周国峰(1982—), 男, 研究员, 博士研究生, 主要研究方向为飞行器设计|陈喆(1989—), 男, 工程师, 硕士, 主要研究方向为飞行器设计、导航制导与控制|吕瑞(1986—), 男, 高级工程师, 硕士, 主要研究方向为飞行器设计、导航制导与控制|涂海峰(1986—)，男，高级工程师，博士，主要研究方向为飞行器设计、导航制导与控制|徐珊(1996—)，女，助理工程师，硕士，主要研究方向为飞行器设计、导航制导与控制
基金资助:
装备发展领域基金(41412050)

Virtual IMU and turntable attitude compensation for HITL simulation

Guofeng ZHOU^1,², Zhe CHEN^1,*, Rui LYU¹, Haifeng TU¹, Shan XU¹

1. Tactical Weapons Division, China Academy of Launch Vehicle Technology, Beijing 100076, China
2. College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2021-09-21 Online:2022-04-01 Published:2022-04-01
Contact: Zhe CHEN

摘要/Abstract

摘要：

针对半实物仿真传统三轴转台解耦方法大多不考虑地球自转影响造成仿真相似性不足、精度不高的问题, 本文充分考虑转台纬度、方位及转序与发射点状态的差异, 提出一种虚拟惯组输出模拟及实物惯组转台姿态补偿方法。当设备中不含实物惯组时, 通过构建虚拟惯组并考虑误差影响模拟真实惯组输出; 当引入实物惯组时, 在转台解耦的基础上补偿当地地球自转角速度, 根据转台奇异值与仿真需用范围可选卧式或立式驱动模式。经仿真验证, 13 min飞行工况下虚拟惯组与实物惯组姿态结果一致, 最大角误差约0.08°, 不加地速补偿时仿真姿态相比理论值差异约3°, 加入补偿后修正至约0.01°, 表明该方法正确可行, 能有效提高仿真精度, 且方法实现简单适用性好, 可工程应用并推广。

关键词: 半实物仿真, 惯组模拟, 误差与补偿, 转台解耦, 转台姿态补偿

Abstract:

During the hardware-in-the-loop (HITL) simulation experiment, the conventional decoupling method of three-axis turntable mostly does not consider the earth's rotation effect, leading to insufficient similarity and low precision. To solve this problem, a method of virtual inertial measurement unit (IMU) output simulation and turntable attitude compensation with physical IMU is proposed. When there is no IMU, the virtual model can be constructed to output measurement information while turntable attitude command based on earth rotation compensation is executed if IMU device is introduced. The virtual results are consistent with physical IMU under the 13 min flight condition while the maximum error angle is about 0.08°. Difference between simulated and theoretical angles is about 3° without compensation, which is corrected to about 0.01° after compensation added. Simulation results show that the proposed method is correct and feasible, can effectively improve simulation precision, and is suitable for engineering application.

Key words: hardware-in-the-loop (HITL) simulation, inertial measurement unit (IMU) simulation, error and compensation, turntable decoupling, turntable attitude compensation

中图分类号:

TJ765

周国峰, 陈喆, 吕瑞, 涂海峰, 徐珊. 半实物仿真惯组输出模拟及转台姿态补偿方法[J]. 系统工程与电子技术, 2022, 44(4): 1329-1335.

Guofeng ZHOU, Zhe CHEN, Rui LYU, Haifeng TU, Shan XU. Virtual IMU and turntable attitude compensation for HITL simulation[J]. Systems Engineering and Electronics, 2022, 44(4): 1329-1335.

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序号	类别	名称	俯仰角	偏航角	滚转角
1	虚拟 IMU	地面仿真结果	-68.396	4.717	0.080
2		飞控计算结果	-68.396	4.716	0.079
3		实物对比结果	-68.318	4.733	0.092
4	实物 IMU	理论惯性值	-68.306	4.738	0.096
5		带补偿转台值	-68.351	1.736	1.074
6		带补偿飞控值	-68.318	4.733	0.092
7		不补偿转台值	-68.319	4.734	0.092
8		不补偿飞控值	-68.328	7.729	-0.896

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半实物仿真惯组输出模拟及转台姿态补偿方法

Virtual IMU and turntable attitude compensation for HITL simulation

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