半实物仿真中转台指令的形成

FORMULATION OF THE FLIGHT-TABLE COMMAND IN HARDWARE-IN-THE-LOOP SIMULATION

本文讨论了在不计及重力与地球自转影响下,阻尼陀螺、捷联惯性测量组合为实物的导弹半实物仿真试验中,转台指令的形成问题。一方面由于三轴转台的转序与描述导弹绕质心转动的运动学方程所采用的转序不同,另一方面由于转台各框的转动范围有限,使得这一问题的解答不一目了然.本文论述了转台复现导弹角运动的实质是复现导弹在惯性空间的角速度,而不是角位置,在此基础之上给出以微分方程形式和坐标变换矩阵形式形成转台指令的两种方法,并进行了验证。

This paper discusses how to formulate the flight-table command in missile hardware-in-the-loop simulation with the rate gyro and the strapdown interal measurement unit in the loop. Since two kinds of rotation orders of coordinates are used, and the rotation ranges of the flight-table are limited, the solution of the problem is not evident. The paper expounds that the reproduction of the missile angular motion, made by the flight-table, is practically the reproduction of the angular velocity of the missile is the inertial space instead of the angular position. On the basis of it two methods of formulating the flight-table command are given: one is in a differential equation form, the other is in a coordinate convertion matric form. And Both are verified.