JP6074969B2 - Simulator - Google Patents

Description

  The present invention relates to a simulator that simulates the behavior of a controlled object when controlled by a control signal using data of a dynamics model that models the behavior of the controlled object, and outputs a behavior signal indicating the simulated behavior. is there.

  The guidance control computer mounted on the rocket controls the operation of the effector (engine, actuator, etc.) through the avio (avionics) device using the flight software so that the flight path designed by the rocket flies. Therefore, when designing flight software during the rocket development process, the rocket system is verified using the designed flight software. In this rocket system verification, the behavior of the effector when the guidance control computer controls the operation of the effector through the avio equipment using the flight software is verified.

  In rocket system verification, a part of the response of the avio device that determines the specific control content of the effector and the response of the effector that is the control target based on the control signal of the effector output by the guidance control computer using flight software Or the flight analysis simulator simulates the whole. The flight analysis simulator is a computer that simulates the behavior of avio equipment and effectors using simulation software. When simulating the response of an avio device or effector, the flight analysis simulator uses a dynamics model that models the behavior of the rocket.

  A dedicated computer assembled on a board is used for the flight analysis simulator. This is because it is necessary to match the interface with a guidance control computer, an avio device, an effector, and the like. That is, the interface between the guidance control computer and the avio device and the interface between the avio device and the effector are not general-purpose in consideration of high-speed communication and noise resistance. Therefore, the flight analysis simulator needs to use an interface of the same standard, not a general-purpose interface.

  By the way, the dynamics model used for the rocket system verification is also used for the verification test of the flight software developed during the rocket development process. In this verification test, first, a control signal for causing the rocket to fly the designed flight path is generated using the developed flight software. The behavior of the rocket when the rocket is controlled by the control signal is simulated by simulation software using a dynamics model.

  When simulation software is used, a behavior signal indicating the behavior of the simulated rocket can be generated. As the behavior signal, for example, there is a gyro simulation signal that simulates the output of a gyro that detects the attitude of a rocket. Therefore, it is verified whether the content of the behavior signal generated using the simulation software matches the behavior that occurs when the rocket flies along the designed flight path.

  At present, the flight software verification test including the above-described procedure can be sufficiently performed even with a computer of a personal computer class as the functions of the processor and the like increase. Therefore, the flight software verification test can be performed in a stand-alone state by installing the flight software and the simulation software on the hard disk of the personal computer and further storing the data of the dynamics model.

  Thus, both the flight software verification test and the rocket system verification include a process of simulating the behavior of avio equipment and effectors using a dynamics model. Nevertheless, the rocket system verification cannot be performed with the same hardware as the flight software verification test due to the difference in interface. That is, there is no hardware compatibility between the flight software verification test and the rocket system verification. Therefore, even if both simulate the same behavior, there may be differences in the results.

  It is desirable to avoid such a difference in simulation results as much as possible because it may impair the consistency of evaluation between the flight software verification test and the rocket system verification. For that purpose, it is effective to perform the process of simulating the behavior of Avio equipment and effectors with the same hardware in both the flight software verification test and the rocket system verification.

  For example, regarding the electronic control unit of an engine, there is a prior document that proposes to share hardware that simulates the behavior of a controlled object using a dynamics model in each process of design, verification, and correction in product development. (For example, patent document 1). This prior document discloses a simulation apparatus including a software simulation apparatus and a hardware simulation apparatus.

  Among these, the hardware simulation device refers to the modeled controlled object model (dynamics model), the actual control unit that controls the controlled object model, the control application that the actual control unit uses for control, and the controlled object model. An actual measurement simulator for simulating the response of the controlled object, and a controller. On the other hand, in the software simulation apparatus, at least the actual control unit and the actual measurement simulator of the hardware simulation apparatus are virtually configured by software.

  Here, since a general-purpose interface is used for engine control by the actual control unit of the hardware simulation apparatus, a general-purpose computer can be used for the hardware simulation apparatus. On the other hand, the simulation by the software simulation apparatus can be sufficiently executed at the general-purpose computer level in view of the processing contents.

  Therefore, hardware that simulates the behavior of the controlled object using the controlled object model (dynamics model) in the software simulation apparatus is also used in the hardware simulation apparatus as it is.

JP 2008-269022 A

  As described above, in the case of an electronic control unit of an engine, there is no special interface situation like a rocket system. Therefore, it is possible to easily realize that the software simulation apparatus and the hardware simulation apparatus simulate the behavior of the controlled object based on the dynamic model using the same hardware.

  However, in the case of rocket development, as described above, since the interface situation differs between the flight software development verification stage and the rocket system verification stage, it was necessary to configure each with separate hardware. Therefore, the simulation of the behavior of the controlled object using the dynamics model must be performed individually for each hardware, and there is room for improvement in terms of ensuring consistent evaluation between the flight software verification test and the rocket system verification. was there.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a simulator capable of simulating the behavior of a controlled object using common hardware even in phases with different interface environments. .

In order to achieve the above object, the simulator of the present invention described in claim 1
Executing device control program is output by executing the control program, and a control means for a control signal for controlling the controlled object, to force out by simulating the execution device by executing the control program,
Storage means for storing data of a dynamics model that models the behavior of the controlled object;
Simulation means for simulating the behavior of the controlled object controlled by the control signal using the data of the dynamics model, and outputting a behavior signal indicating the simulated behavior of the controlled object;
Evaluation means for evaluating the control program based on the behavior signal;
Interface means for inputting / outputting signals to / from an external device;
Mode switching means for switching the operation mode according to the device connected to the interface means,
The mode switching means is
When interface converter for converting the hardware interface standard is detected that is connected to said interface means, controlled by said control signal from a previous SL executing device inputted to said interface means from said interface converter The simulation means simulates the behavior of the controlled object, and the operation mode is switched to a control verification mode in which the behavior signal output by the simulation means is output from the interface means to the interface converter,
When it is detected that no device is connected to the interface means, the simulation means simulates the behavior of the controlled object controlled by the control signal output by the control means, and the simulation means outputs Switching the operation mode to a program evaluation mode in which the evaluation means evaluates the control program based on the behavior signal,
It is characterized by that.

  According to the simulator of the present invention described in claim 1, in the control verification mode in which the interface converter is connected to the interface means, the simulation means controls the control corresponding to the control signal input from the interface converter to the interface means. Simulating the behavior of the object, a behavior signal is output from the interface means to the interface converter.

  Therefore, when an interface converter connected to a control program execution device having an interface standard different from that of the interface means is connected to the interface means, the simulation means determines the behavior of the control target based on the control signal from the control program execution device. And a behavior signal indicating the simulated behavior is returned to the control program execution device via the interface means and the interface converter.

  That is, the simulator of the present invention described in claim 1 is a control target when the control program execution device controls the control target in order to verify the control contents of the control target by the control program execution device in the control verification mode. It will function as a simulator that simulates the behavior of

  On the other hand, in the program evaluation mode in which no interface converter is connected to the interface means, the simulation means simulates the behavior of the controlled object corresponding to the control signal output by the control means and outputs a behavior signal. Based on this, the evaluation means evaluates the control program.

  That is, the simulator according to the first aspect of the present invention simulates, in the program evaluation mode, the control of the control target by the control program execution device and the behavior of the control target controlled by the control program execution device. It will function as a simulator with an evaluation function that evaluates the control program.

  Therefore, when verifying control by a device connected to a control program execution device having an interface different from the interface means, and when evaluating the control program itself without connecting to the control program execution device. In addition, the behavior of the controlled object can be simulated using common hardware. Thereby, the control verification and program evaluation using the same dynamics model can be made into the consistent content by the sharing of the hardware to be used.

  In the simulator of the present invention described in claim 2, in the simulator of the present invention described in claim 1, the storage means stores the data of the dynamics model separately for each control element to be controlled. In the control verification mode, the simulation means uses the dynamics model data corresponding to the control element to control the behavior of the control element controlled by the interface conversion target device by the interface converter connected to the interface means. It is characterized by using and simulating.

  According to the simulator of the present invention described in claim 2, in the simulator of the present invention described in claim 1, in the control verification mode, the simulation means controls the device connected to the interface means via the interface converter. Simulate the behavior of the control element. For this reason, when the control target whose simulation means simulates the behavior using the dynamics model data includes a plurality of control elements, the behavior of the control element to be converted by the interface converter connected to the interface means is Can be simulated using the corresponding dynamics model.

  According to the simulator of the present invention, the behavior of the controlled object can be simulated using common hardware even in phases with different interface environments.

It is explanatory drawing which shows notionally the operation | movement of the flight analysis simulator which concerns on one Embodiment of this invention. It is explanatory drawing which shows schematic structure of the control system of the rocket carrying the guidance control computer etc. of FIG. It is explanatory drawing which shows schematic structure in the case of connecting and operating the flight analysis simulator of FIG. 1 with the guidance control computer side. FIG. 4 is an explanatory diagram detailing an outline of an airframe dynamics model and an interface signal conversion unit of FIG. 3. 2 is a flowchart showing the main points of processing executed by a CPU of the personal computer of FIG. 1 according to a software program installed on a hard disk. (A), (b) is explanatory drawing which shows the function structure in the case of operating the flight analysis simulator of FIG. 1 in program evaluation mode. It is explanatory drawing which shows the function structure in the case of operating the flight analysis simulator of FIG. 1 in control verification mode. It is explanatory drawing which shows the function structure in the case of operating the flight analysis simulator of FIG. 1 in control verification mode. It is explanatory drawing which shows the function structure in the case of operating the flight analysis simulator of FIG. 1 in control verification mode.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is an explanatory diagram conceptually showing the operation of a simulator according to an embodiment of the present invention.

  As shown in FIG. 1, the flight analysis simulator 1 according to an embodiment of the simulator of the present invention controls the operation of the effector 41 (see FIG. 2) of the rocket 31 (see FIG. 2) using the flight software A. The behavior of the effector 41 is simulated using the airframe dynamics model B. This body dynamics model B is obtained by modeling the behavior (response) of the effector 41 with respect to various control signals individually for each effector 41.

  In order to simulate the behavior (response) of each effector 41, the flight analysis simulator 1 includes a fuselage dynamics together with simulation software (not shown) on a hard disk 5 of a personal computer (hereinafter abbreviated as “PC”) 3. Model B data is installed.

  As shown in the explanatory diagram of FIG. 2, the rocket (spacecraft) 11 is a flight path designed in accordance with a control signal that the guidance control computer 33 executes the flight software A installed in the hard disk 25 and outputs to the communication bus 37. Control the whole operation to fly. Specifically, various types of avio equipment (automatic piloting device, navigation system, communication equipment, flight management system, etc.) 39 that has received a control signal from the guidance control computer 33 provides details to the corresponding effector (engine, actuator, etc.) 41. A control signal is output to control its operation. The attitude of the rocket 31 and the like are detected by the gyro part 43 and output to the guidance control computer 33. The gyro unit 43 has a function of outputting a test input signal from the outside to the guidance control computer 33 as a detection signal by its own test operation.

  In the rocket 31 having such a configuration, between the guidance control computer 33 and the communication bus 37, between the communication bus 37 and the abio device 39, between the abio device 39 and the effector 41, and the gyroscope 43 and the guidance control computer 33. A non-generic standard interface is used between and. Examples include the EIA-422 standard suitable for high-speed communication, the MIL-STD-1553B standard, which is an aircraft communication standard, and the SpaceWire standard, which is a spacecraft network communication standard.

  On the other hand, as shown in the explanatory diagram of FIG. 3, the flight analysis simulator 1 of the present embodiment shown in FIG. 1 includes an abio simulation module 7 that simulates the behavior of the abio equipment 39 (see FIG. 2), and an effector 41 (FIG. 2). An effector simulation module 9 for simulating the behavior of the rocket 31 and a sensor simulation module 11 for simulating the detection of the attitude of the rocket 31 by the gyro portion 43.

  The avio simulation module 7 simulates the operation (behavior) in which the avio device 39 outputs a control signal to the effector 41 in accordance with the control signal output to the avio device 39 by the guidance control computer 33 in FIG. The effector simulation module 9 simulates an operation (behavior) performed by the effector 41 in accordance with a detailed control signal output from the avio device 39 to the effector 41. The sensor simulation module 11 simulates an operation (behavior) in which the gyro unit 43 detects and outputs a posture signal when the effector 41 performs an operation simulated by the effector simulation module 9. These modules 7, 9, and 11 generate behavior signals indicating simulated operations (behaviors).

  The above-described Avio simulation module 7, effector simulation module 9, and sensor simulation module 11 are all executed by the CPU (not shown) of the personal computer 3 executing simulation software while referring to the airframe dynamics model B of the hard disk 5. This is a function that is realized. In the present embodiment, the abio simulation module 7 and the effector simulation module 9 correspond to the simulation means in the claims. Moreover, in this embodiment, each abio apparatus 39 and each effector 41 are equivalent to the control element in a claim, and the concept which united these corresponds to the control object in a claim.

  As shown in the explanatory diagram of FIG. 4, the airframe dynamics model B includes modules such as a gravity model, trajectory calculation, atmosphere, engine, thruster, actuator, misalignment, engine failure, thruster failure, and actuator failure. However, in the present embodiment, the aircraft dynamics model B having other modules excluding the engine failure and thruster failure modules is used as the hard disk 5 of the flight analysis simulator 1 (corresponding to the storage means in the claims). ) Is installed.

  Therefore, the transfer of control signals and behavior signals to these modules 7, 9, 11 is a general-purpose and highly popular interface standard (for example, an interface unit in the claims) of the personal computer 3 (for example, EIA-232 standard and IEEE 1394 standard).

  As described above, the interface standard used for signal transmission on the rocket 31 side is different from the interface standard of the interface unit 13 of the flight analysis simulator 1. Therefore, in order to exchange signals between the rocket 31 side and the personal computer 3, it is necessary to perform interface signal conversion in terms of hardware and software.

  Therefore, in this embodiment, as shown in FIG. 1, an interface is used to exchange signals between the guidance control computer 33 of the rocket 31, the communication bus 37, the avio device 39, and the interface unit 13 of the personal computer 3. A signal converter 15 (corresponding to an interface converter in the claims) is used.

  The interface signal conversion unit 15 includes communication interfaces (communication IF) 17 to 23 for converting an interface standard in software and a conversion interface plug (conversion IF plug) 25 for converting the interface standard in hardware. ing.

  As shown in FIG. 4, serial communication (RS422 serial communication) conforming to the EIA-422 standard between the guidance control computer 33, the communication bus 37, the avio device 39, and the gyro unit 43 of the rocket 31 shown in FIG. Serial communication conforming to the MIL-STD-1553B standard (1553B serial communication) and serial communication conforming to the SpaceWire standard, which is a spacecraft network communication standard (SpaceWire communication), are performed.

  In addition, between the guidance control computer 33 of the rocket 31 shown in FIG. 2, the communication bus 37, the avio device 39, and the gyro unit 43, as shown in FIG. 4, analog signals, discrete signals, PCM signals, analog sensor signals, The valve (valve 1, 2) signal is transferred.

  In view of this, the interface signal conversion unit 15 according to the present embodiment enables the necessary signals to be exchanged between the rocket 31 side and the personal computer 3 in terms of software, and the above-described communication standards and signals (forms). A software interface signal conversion module corresponding to In the detailed description to be described later with reference to FIGS. 7 to 9, a case where a 1553B serial communication module, an analog signal module, an analog sensor signal module, and a valve 2 signal module are used will be described.

  Further, the interface signal conversion unit 15 of the present embodiment is provided with a conversion interface plug (conversion IF plug) 25 in order to enable necessary signals to be exchanged between the rocket 31 and the personal computer 3 in terms of hardware. ing.

  The conversion interface modules (conversion I / F) 17 to 23 of the interface signal conversion unit 15 shown by blocks in FIG. 3 are respectively used as the 1553B serial communication module, analog signal module, analog sensor signal module, and valve 2 signal module shown in FIG. It corresponds.

  Next, the main points of the processing executed by the CPU (not shown) of the personal computer 3 of the flight analysis simulator 1 shown in FIG. 1 according to the software program installed in the hard disk 5 will be described with reference to the flowchart of FIG. .

  First, the CPU of the personal computer 3 checks whether or not the interface signal conversion unit 15 is connected to the interface unit 13 (step S1). Whether the interface signal conversion unit 15 is connected to the interface unit 13 depends on which conversion interface module (conversion I / F) 17 to 23 of the interface signal conversion unit 15 is connected and each terminal of the interface unit 13. It can be recognized from the potential of (pin).

  If the interface signal conversion unit 15 is not connected to the interface unit 13 (NO in step S1), the CPU of the personal computer 3 executes an operation in the program evaluation mode (step S3). The program evaluation mode is a mode for performing a flight software verification test shown in the upper part of FIG.

  The flight software verification test is a test for verifying the suitability of the design contents of the flight software A. In the flight analysis simulator 1 used for the flight software verification test, the flight software A and evaluation software (not shown) are further installed in the hard disk 5 of the personal computer 3, and the personal computer 3 is operated in a stand-alone state.

  In the flight software verification test, the flight software A is executed in the personal computer 3 and a control signal for controlling the operation of each effector 41 via the avio device 39 is output. This control signal has a control content suitable for causing the rocket 31 to fly along the designed flight path.

  In the flight software verification test, the personal computer 3 simulates the behavior of each effector 41 with respect to the control signal output by executing the flight software A by executing the simulation software using the data of the airframe dynamics model B. A behavior signal indicating the behavior of the effector 41 is output. Then, whether or not the content of the behavior signal output by the personal computer 3 executing the evaluation software and executing the simulation software indicates a behavior suitable for flying the rocket on the designed flight path. evaluate.

  Therefore, when the CPU of the personal computer 3 executes the operation in the program evaluation mode, the CPU of the personal computer 3 executes the flight software A and the evaluation software program, so that FIG. 6A and FIG. As shown in FIG. 2, the personal computer 3 functions as the control device simulation module 16 (corresponding to the evaluation means in the claims) that simulates the operation of the guidance control computer 33.

  When executing the operation in the program evaluation mode in step S3, the CPU of the personal computer 3 can selectively execute two or more simulated operations based on, for example, a designation input from a keyboard or a mouse.

  For example, in the simulation operation shown in FIG. 6A, the Avio simulation module 7 corresponding to the Avio device 39 corresponding to the input destination of the control signal output by the control device simulation module 16 sends a control signal to the corresponding effector 41. Simulate the output action (behavior). Then, the effector simulation module 9 corresponding to the effector 41 corresponding to the input destination of the control signal output by the abio simulation module 7 simulates the operation (behavior) performed by the corresponding effector 41. At this time, the sensor simulation module 11 simulates an operation (behavior) in which the gyro unit 43 detects and outputs a posture signal when the effector 41 performs an operation simulated by the effector simulation module 9.

  On the other hand, in the simulation operation shown in FIG. 6 (b), the simulation of each operation (behavior) that the Avio simulation module 7 and the effector simulation module 9 separately performed for the Avio device 39 and the effector 41 is performed for all Avio. The simple simulation module 10 performs overall simulation. In other words, the operation (behavior) of each effector 41 when each Avio device 39 corresponding to the control signal output by the control device simulation module 16 controls the operation of each effector 41 that is the control target is shown in FIG. The simple simulation module 10 of FIG.

  In the case of the simulated operation of FIG. 6A, the controller simulation module 16 uses the behavior signal indicating the operation (behavior) simulated by the effector simulation module 9 and the attitude signal simulated and output by the sensor simulation module 11. Then, it is evaluated whether or not the action (behavior) of the effector 41 simulated by the effector simulation module 9 is a behavior suitable for flying the rocket on the designed flight path.

  In the case of the simulated operation of FIG. 6B, the control device simulation module 16 simulates the all-Abio simple simulation module 10 from the behavior signal indicating the operation (behavior) simulated by the all-Abio simple simulation module 10. It is evaluated whether the operation (behavior) of the effector 41 is a behavior suitable for flying the rocket on the designed flight path.

  Then, as shown in FIG. 5, the CPU of the personal computer 3 outputs the result of evaluation of the operation (behavior) of the effector 41 by the control device simulation module 16 by display on the display, printout on recording paper, or the like (step). S5). Thus, the CPU of the personal computer 3 ends the series of processes.

  On the other hand, if the interface signal conversion unit 15 is connected to the interface unit 13 in step S1 (YES), the CPU of the personal computer 3 determines which conversion interface module (conversion) of the interface signal conversion unit 15 to the interface unit 13. It is confirmed from the potential of each terminal (pin) of the interface unit 13 whether or not (I / F) 17 to 23 are connected (step S7).

  Subsequently, the CPU of the personal computer 3 executes the operation in the control verification mode for the avionic device 39 and the effector 41 corresponding to the conversion interface modules (conversion I / F) 17 to 23 connected to the interface unit 13. (Step S9). The control verification mode is used when the rocket system verification shown in the lower part of FIG. 1 is performed.

  In the rocket system verification, whether the effector 41 of the rocket 31 performs an appropriate behavior (response) in response to the control signal output by executing the flight software A installed in the hard disk 35 by the guidance control computer 33 mounted on the rocket. It is to verify whether. For this purpose, evaluation software is installed on the hard disk 35 of the guidance control computer 33. On the other hand, on the flight analysis simulator 1 side used for the rocket system verification, the flight software A and the evaluation software (not shown) do not have to be installed in the hard disk 5 of the personal computer 3. Even if they are installed, they are not used to execute them.

  When verifying the rocket system, the conversion interface plug (conversion IF plug) 25 of the interface signal conversion unit 15 is connected to the interface unit 13 of the personal computer 3, the communication bus 37 on the rocket 31 side, the Avio device 39, or the figure. The flight analysis simulator 1 is operated in a state where the sensor system 45 of the actual effector 41 shown in FIG.

  In the rocket system verification, the target that the flight analysis simulator 1 simulates the operation (behavior) can be changed. In the pattern shown in the explanatory diagram of FIG. 7, the conversion interface plug (conversion IF plug) 25 of the interface signal conversion unit 15 is connected to the interface unit 13 of the personal computer 3, the sensor system 45 of some effectors 41, and other effectors 41. Is connected to an avio device 39 corresponding to. In this pattern, the flight analysis simulator 1 simulates the operation (behavior) of other effectors 41 excluding some effectors 41.

  Further, in the pattern shown in the explanatory diagram of FIG. 8, the interface unit 13 of the personal computer 3 and all the avio devices 39 are connected to the conversion interface plug (conversion IF plug) 25 of the interface signal conversion unit 15. In this pattern, the flight analysis simulator 1 simulates the operation (behavior) of all the effectors 41.

  Further, in the pattern shown in the explanatory diagram of FIG. 9, the interface unit 13 of the personal computer 3 and the port for each Avio device 39 of the communication bus 37 are connected to the conversion interface plug (conversion IF plug) 25 of the interface signal conversion unit 15. doing. In this pattern, the flight analysis simulator 1 simulates the operations (behaviors) of all the avio equipment 39 and the effector 41.

  In any pattern, in the rocket system verification, the guidance control computer 33 executes the flight software A and outputs a control signal to the communication bus 37.

  In the pattern shown in FIG. 7, the avio device 39 (Avio device 3) connected to the communication bus 37 outputs a control signal to the corresponding effector 41 (shown in the case of the oil cylinder for posture control in FIG. 7). To do. Then, the sensor system 45 of the effector 41 that operates in response to the control signal from the avio device 39 (Avio device 3) detects the operating state of the effector 41 and outputs a sensor signal corresponding to the detected state.

  In the pattern shown in FIG. 7, the sensor signal output from the sensor system 45 and the control signal input to the interface signal conversion unit 15 (FIG. 1) from the avio device 39 connected to the port of the communication bus 37 are converted. Interface modules (conversion I / F) 17 to 23 convert the interface standard control signal that can be accepted by the interface unit 13 of the personal computer 3, and output the control signal to the interface unit 13.

  On the other hand, in the pattern shown in FIG. 8, each Avio device 39 (Abio devices 1 to 3) connected to the communication bus 37 outputs a control signal for the corresponding effector 41. Then, the conversion interface modules (conversion I / F) 17 to 23 convert the control signals input from the respective avio devices 39 into interface standard control signals that can be received by the interface unit 13 of the personal computer 3. Output to.

  7 and 8, each effector simulation module 9 of the personal computer 3 simulates the operation (behavior) performed by the effector 41 corresponding to the control signal from the interface unit 13. At this time, the sensor simulation module 11 simulates an operation (behavior) in which the gyro unit 43 detects and outputs a posture signal when the effector 41 performs an operation simulated by the effector simulation module 9.

  On the other hand, in the pattern shown in FIG. 9, the conversion interface modules (conversion I / F) 17 to 23 convert control signals input from the connection destination port of the communication bus 37 to the interface signal conversion unit 15 (FIG. 1). The interface unit 13 of the personal computer 3 converts the control signal into an interface standard control signal that can be received, and outputs the control signal to the interface unit 13.

  Each Avio simulation module 7 of the personal computer 3 generates and outputs a control signal for the corresponding effector 41 as a simulation of the operation (behavior) performed by the Avio device 39 corresponding to the control signal from the interface unit 13. Each effector simulation module 9 simulates an operation (behavior) performed by the effector 41 in response to a control signal from the corresponding abio simulation module 7. At this time, the sensor simulation module 11 simulates an operation (behavior) in which the gyro unit 43 detects and outputs a posture signal when the effector 41 performs an operation simulated by the effector simulation module 9.

  7 to 9, the effector simulation module 9 sends a behavior signal indicating the simulated operation (behavior) from the interface unit 13 to the sensor system 45 as shown in FIG. If it has been input, it is output to the interface unit 13. Further, the sensor simulation module 11 outputs a posture signal corresponding to the simulated operation (behavior) of the gyro unit 43 to the interface unit 13 (step S11). Thus, the CPU of the personal computer 3 ends the series of processes.

  Note that the conversion interface module (conversion I / F) 17 of the interface signal conversion unit 15 (FIG. 1) outputs an attitude signal from the interface unit 13 of the personal computer 3 to the gyro unit 43 as a test input signal. Further, the other conversion interface modules (conversion I / F) 19 to 23 convert the behavior signal from the interface unit 13 of the personal computer 3 into the communication bus 37 of the guidance control computer 33 and the avio device 39 (pattern in FIG. 7), avio. The data is output to the device 39 (pattern in FIG. 8) and the communication bus 37 (pattern in FIG. 9).

  The guidance control computer 33 executes the evaluation software, and whether or not the behavior of the effector 41 indicated by the behavior signal from the interface unit 13 of the personal computer 3 is appropriate for causing the rocket 31 to fly on the designed flight path. To evaluate.

  As is clear from the above description, in the flight analysis simulator 1 of the present embodiment, steps S1 to S11 in the flowchart of FIG. 5 are processes corresponding to the mode switching means in the claims.

  In the present embodiment, the control device simulation module 16 and the Avio simulation module 7 of FIGS. 6A and 6B constitute the control means in the claims.

  As described above, the flight analysis simulator 1 of the present embodiment has the interface signal converter 15 connected to the communication bus 37 and Avio in the control verification mode in which the interface signal converter 15 is connected to the interface unit 13 of the personal computer 3. The guidance control computer 33 connected via the device 39 functions as a simulator that simulates the behavior of the effector 41 when controlled using the flight software A.

  On the other hand, in the program evaluation mode in which the interface signal conversion unit 15 is not connected to the interface unit 13, the behavior of the effector 41 corresponding to the control signal output using the flight software A by the control device simulation module 16 realized by the personal computer 3. , The behavior signal is output, and the flight software A is evaluated based on the behavior signal.

  That is, the flight analysis simulator 1 of the present embodiment simulates the control of the effector 41 by the guidance control computer 33 and the behavior of the effector 41 controlled by the guidance control computer 33 in the program evaluation mode. The flight software A functions as a simulator with an evaluation function that the personal computer 3 evaluates.

  Therefore, when verifying the control of the effector 41 by the guidance control computer 33 by connecting to the guidance control computer 33 having an interface different from the interface unit 13, the flight software A itself is not connected to the guidance control computer 33. When the evaluation is performed, the behavior of the effector 41 can be simulated using the data of the airframe dynamics model B installed in the hard disk 5 of the common personal computer 3. Thereby, the verification of the control of the guidance control computer 33 using the data of the same aircraft dynamics model B and the evaluation of the flight software A can be made consistent by sharing the hardware used.

  In the present embodiment, since the data of the body dynamics model B is obtained by modeling the dynamics model for each effector 41 individually, it is possible to simulate the behavior of each effector 41 using the respective dynamics model. it can.

  Moreover, in this embodiment, the case where it used for the system regarding the guidance control of the flight path | route of the rocket 31 was demonstrated as an example. However, the simulator of the present invention simulates the control program including hardware that simulates the behavior of the control target when the control target is controlled by the control program using the data of the dynamics model, and the control by the execution device. This is widely applicable when the interface environment with the hardware to be evaluated is different.

1 Flight analysis simulator 3 Personal computer 5 Hard disk (storage means)
7 Avio simulation module (simulation means)
9 Effector simulation module (simulation means)
10 Simple simulation module 11 Sensor simulation module 13 Interface section (interface means)
15 Interface signal converter (interface converter)
16 Control device simulation module (evaluation means)
17, 19, 21, 23 Communication interface 25 Conversion interface plug 31 Rocket 33 Guidance control computer 35 Hard disk 37 Communication bus 39 Avio equipment (control elements, control target)
41 Effector (control element, control target)
43 Gyro part 45 Sensor system A Flight software B Airframe dynamics model

Claims (2)

Executing device control program is output by executing the control program, and a control means for a control signal for controlling the controlled object, to force out by simulating the execution device by executing the control program,
Storage means for storing data of a dynamics model that models the behavior of the controlled object;
Simulation means for simulating the behavior of the controlled object controlled by the control signal using the data of the dynamics model, and outputting a behavior signal indicating the simulated behavior of the controlled object;
Evaluation means for evaluating the control program based on the behavior signal;
Interface means for inputting / outputting signals to / from an external device;
Mode switching means for switching the operation mode according to the device connected to the interface means,
The mode switching means is
When interface converter for converting the hardware interface standard is detected that is connected to said interface means, controlled by said control signal from a previous SL executing device inputted to said interface means from said interface converter The simulation means simulates the behavior of the controlled object, and the operation mode is switched to a control verification mode in which the behavior signal output by the simulation means is output from the interface means to the interface converter,
When it is detected that no device is connected to the interface means, the simulation means simulates the behavior of the controlled object controlled by the control signal output by the control means, and the simulation means outputs Switching the operation mode to a program evaluation mode in which the evaluation means evaluates the control program based on the behavior signal,
A simulator characterized by that.   The storage means stores the data of the dynamics model separately for each control element to be controlled, and the simulation means performs interface conversion by the interface converter connected to the interface means in the control verification mode. The simulator according to claim 1, wherein behavior of a control element controlled by a target device is simulated using data of the dynamics model corresponding to the control element.

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