基于面向对象技术的实时飞行仿真系统设计
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摘要
计算机建模与仿真技术，经过多年的发展形成了许多理论和方法，广泛应用
于国内外导弹武器系统研制中，发挥出巨大的经济效益。以计算机数学模型来部
分代替，甚至完全取代物理模型系统，进行仿真，可以大大地提高工作效率，缩
短研制周期，节约经费。随着导弹武器系统研制中仿真技术应用的深入，国内导
弹研制单位对功能强大的实时飞行仿真软件的需求越来越迫切。
本文针对现代先进仿真技术的要求，应用软件工程中面向对象的思想方法和
模块化建模的理论，提出一种实时飞行仿真系统框架和用户仿真模型的设计方法，
用于实现导弹系统的数字仿真。主要内容有：
（1）分析研究了面向对象技术的基本理论和设计方法，以及现代先进仿真技术
的基本概念，探讨了集建模—实验—分析于一体的一体化仿真系统的基本
理论框架问题。
（2）基于面向对象技术，用类的程序设计方法，开发出通用的实时仿真软件系
统平台，用于实现导弹系统全弹数字仿真，为弹载软件系统的开发、调试
和数字算法及性能评估提供软件环境。平台基本功能接口齐全，扩展容易；
采用多层次结构，实现仿真系统与仿真模型的分离，允许用户根据需要，
自行搭建仿真对象系统，设计仿真模型，进行仿真。
（3）按照仿真软件系统的特点要求，用面向对象的模块化程序设计方法，分析
了模型的描述形式、特点和原则，探讨了仿真模型的建立、实现方法；分
析了模型的重用性，提出采用数据封装的技术方案，解决仿真模型中子系
统模块重用的问题。
（4）针对某型导弹的数字仿真要求，结合工程应用的实际情况，按照本文提出
的模块化设计方法，建立一套仿真数学模型库，这一模型库中包含了一般
空空导弹动力学系统和制导系统的主要模块。
本文的研究在导弹武器系统的仿真工作中有着重要的实际意义和广泛的应用
前景，可大大减轻设计人员的程序设计负担，而把精力集中到仿真对象系统的搭
建和数学模型的准确性设计上。
Over the past decades, computer modeling and simulation technology, have made a great advantage on different theories and methods, and been widely applied to the missile-weapon system design and manufacture. The benefits of computer simulation based on mathematical models, partly or even completely instead of physical models, are well understood: higher work efficiency, shorter development cycle, lower cost and more safety. And to meet the need of further research in the development of missile-weapon system, the real-time flight simulation technology has become a hot focus, and the related functional simulation system is in urgent need in those war-industry departments0
Considering the characters and requirement of the advanced simulation application, use the popular object-oriented design methodology and modularmodeling technology for reference, an integrated simulation system software frame, including a user model-design method, is studied in detail, The work is mainly carried out as following aspects.
(1) The basic theory and design method of the object-oriented technology, as well as the radical concept of modern advanced simulation technology, are analysed. After that, the basic theory of the integrated simulation system combined with modelling-experiment-analysis function is discussed.
(2) Based on the object-oriented programming method, an integrated simulation system software is developed to simulate the whole real-time flight control process, and to provide a perfect software environment for the development, debug, digital algorithm test and performance evaluation of the onboard software. The basic function interfaces are complete, and easy to expand. Besides that, its hierarchy makes it easy to separate the user model subsystem from the simulating subsystem. This may allow the user to design his own simulation models, construct his own simulation object subsystem, and then add them into the system project, to realize the whole simulation process.
(3) The description, character, and realization of the user model are analyzed. Further more, the reusability of models are discussed, and a solution in terms of data-encapsulation is proposed to solve the problem of how to reuse subsystem modules.
(4) Aiming at the requirement of the real-time simulation for some type of missile, considering the current situation of simulation application, a simulation
model library of the missile system, including the dynamics subsystem, control and guide subsystem of the general air-to-air missile, is set up.
The works mentioned above has a great value in engineering practice, as far as it goes, it can improve the simulation efficiency effectively, help the designer concentrate on accurate modeling and then constructing model-system for simulation, by lighten his works on programming.
于国内外导弹武器系统研制中，发挥出巨大的经济效益。以计算机数学模型来部
分代替，甚至完全取代物理模型系统，进行仿真，可以大大地提高工作效率，缩
短研制周期，节约经费。随着导弹武器系统研制中仿真技术应用的深入，国内导
弹研制单位对功能强大的实时飞行仿真软件的需求越来越迫切。
本文针对现代先进仿真技术的要求，应用软件工程中面向对象的思想方法和
模块化建模的理论，提出一种实时飞行仿真系统框架和用户仿真模型的设计方法，
用于实现导弹系统的数字仿真。主要内容有：
（1）分析研究了面向对象技术的基本理论和设计方法，以及现代先进仿真技术
的基本概念，探讨了集建模—实验—分析于一体的一体化仿真系统的基本
理论框架问题。
（2）基于面向对象技术，用类的程序设计方法，开发出通用的实时仿真软件系
统平台，用于实现导弹系统全弹数字仿真，为弹载软件系统的开发、调试
和数字算法及性能评估提供软件环境。平台基本功能接口齐全，扩展容易；
采用多层次结构，实现仿真系统与仿真模型的分离，允许用户根据需要，
自行搭建仿真对象系统，设计仿真模型，进行仿真。
（3）按照仿真软件系统的特点要求，用面向对象的模块化程序设计方法，分析
了模型的描述形式、特点和原则，探讨了仿真模型的建立、实现方法；分
析了模型的重用性，提出采用数据封装的技术方案，解决仿真模型中子系
统模块重用的问题。
（4）针对某型导弹的数字仿真要求，结合工程应用的实际情况，按照本文提出
的模块化设计方法，建立一套仿真数学模型库，这一模型库中包含了一般
空空导弹动力学系统和制导系统的主要模块。
本文的研究在导弹武器系统的仿真工作中有着重要的实际意义和广泛的应用
前景，可大大减轻设计人员的程序设计负担，而把精力集中到仿真对象系统的搭
建和数学模型的准确性设计上。
Over the past decades, computer modeling and simulation technology, have made a great advantage on different theories and methods, and been widely applied to the missile-weapon system design and manufacture. The benefits of computer simulation based on mathematical models, partly or even completely instead of physical models, are well understood: higher work efficiency, shorter development cycle, lower cost and more safety. And to meet the need of further research in the development of missile-weapon system, the real-time flight simulation technology has become a hot focus, and the related functional simulation system is in urgent need in those war-industry departments0
Considering the characters and requirement of the advanced simulation application, use the popular object-oriented design methodology and modularmodeling technology for reference, an integrated simulation system software frame, including a user model-design method, is studied in detail, The work is mainly carried out as following aspects.
(1) The basic theory and design method of the object-oriented technology, as well as the radical concept of modern advanced simulation technology, are analysed. After that, the basic theory of the integrated simulation system combined with modelling-experiment-analysis function is discussed.
(2) Based on the object-oriented programming method, an integrated simulation system software is developed to simulate the whole real-time flight control process, and to provide a perfect software environment for the development, debug, digital algorithm test and performance evaluation of the onboard software. The basic function interfaces are complete, and easy to expand. Besides that, its hierarchy makes it easy to separate the user model subsystem from the simulating subsystem. This may allow the user to design his own simulation models, construct his own simulation object subsystem, and then add them into the system project, to realize the whole simulation process.
(3) The description, character, and realization of the user model are analyzed. Further more, the reusability of models are discussed, and a solution in terms of data-encapsulation is proposed to solve the problem of how to reuse subsystem modules.
(4) Aiming at the requirement of the real-time simulation for some type of missile, considering the current situation of simulation application, a simulation
model library of the missile system, including the dynamics subsystem, control and guide subsystem of the general air-to-air missile, is set up.
The works mentioned above has a great value in engineering practice, as far as it goes, it can improve the simulation efficiency effectively, help the designer concentrate on accurate modeling and then constructing model-system for simulation, by lighten his works on programming.
引文
[1] 熊光楞等，先进仿真技术与仿真环境， 国防工业出版社，1997
[2] 顾启泰，应用仿真技术， 国防工业出版社，1995
[3] 王行仁，飞行实时仿真系统及技术， 北京航空航天大学出版社，1998
[4] 余静等，现代飞行模拟技术， 航空工业出版社，1997
[5] 冯允成，系统仿真及其应用， 机械工业出版社，1992
[6] Sally Shlaer，Stephen J Mellor,面向对象的系统分析， 清华大学出版社，1993
[7] 张海藩，软件工程导论， 清华大学出版社，1998
[8] 汤庸，结构化与面向对象软件方法， 科学出版社，1998
[9] 王华等，Visual C++6． 0编程实例与技巧， 机械工业出版社1999
[10] 钱能，C++程序设计教程， 清华大学出版社，1999
[11] 高强，VVisual C++高级编程技巧， 人民邮电出版社，2000
[12] Edward Yourdon，实用面向对象软件工程教程，电子工业出版社，1998
[13] C常用算法程序集， 清华大学出版社，1994
[14] 空空导弹系统概论编委会，空空导弹系统概论，兵器工业出版社，1997
[15] 吕学富，飞行器飞行力学， 西北工业大学出版社，1995
[16] 纪楚群，导弹空气动力学， 宇航出版社，1996
[17] 徐南荣等，红外辐射与制导， 国防工业出版社，1997
[18] 徐根兴，目标和环境的光学特性， 宇航出版社，1995
[19] 陈佳实，导弹制导和控制系统的分析与设计， 宇航出版社，1989
[20] A．A．列别捷夫、B．A．卡拉巴诺夫，无人驾驶飞行器控制系统动力学， 哈尔滨工业大学出版社，1989
[21] 张平，“L”型二元非成像导引头视场仿真及相关技术探讨， 航空兵器，2000(3)
[22] 关世义，计算飞行力学引论，战术导弹技术， 1998(3)
[23] 屠仁寿等，当前仿真方法学发展中的若干问题， 系统仿真学报10卷1期，1998(2)
[24] 孟晓风等，建模与仿真的智能化、集成化发展综述， 系统仿真学报8卷增刊，1996
[25] 关世义，飞航导弹仿真技术若干问题的探讨，战术导弹技术，1991(1)
[26] 王醒华等，飞行控制系统的一体化仿真软件-SIMLAB， 系统仿真学报8卷1期，1996(2)
[27] 陈卫民，海鹰仿真集成开发环境-Hyside， 系统仿真学报10卷3期，1998(3)
[28] 屠文庆译，红外导引头性能评价仿真软件， 航空兵器，2000(3)
[29] 杜毅民，仿真与型号研制， 航空兵器， 1994(2)
[30] 于剑桥，空面导弹弹道仿真方法研究， 弹箭与制导学报，1997(1)
[31] 赵华超，空导弹总体设计计算机仿真应建立的模型，航空兵器，1991(1)
[32] 王仁铭等，用面向对象编写科学运算类库，航空计算技术， 1998(4)
[33] 惠天舒等，仿真模型的可重用性研究，北京航空航天大学学报，1999(3)
[34] Oren T, GEST-A Modeling and Simulation Language Based on System Theoretic Concepts in Simulation and Model-based Methodologies: An integrative View. New York, 1984
[35] Rosenberg R C et. al. Extensible Simulation Software for Dynamic System Simulation, Simulation, 1992
[36] James Rumbaugh, Object-Oriented Modeling and Design, 1992
[37] Brian Stevens, Frank Lewis, Aircraft Control and Simulation, 1992
[38] E. Bruce Jackson, Results of a Flight Simulation Software Methods Survey, NASA-Langley Research Center Hampton, VA, AIAA, Flight Simulation, Technologies Conference, August 7-9,1995/Baltimore, MD, AIAA 95-3414
[39] Adolph, Charles E., Thorpe, Jack, Simulation, Distributed Simulation, and Synthetic Environments. Future Applications and Challenges, 1996
[40] Blayne Marin, Object-oriented Development of Large Applications, IEEE Software, May 1996, Vol 13, No 3
[2] 顾启泰，应用仿真技术， 国防工业出版社，1995
[3] 王行仁，飞行实时仿真系统及技术， 北京航空航天大学出版社，1998
[4] 余静等，现代飞行模拟技术， 航空工业出版社，1997
[5] 冯允成，系统仿真及其应用， 机械工业出版社，1992
[6] Sally Shlaer，Stephen J Mellor,面向对象的系统分析， 清华大学出版社，1993
[7] 张海藩，软件工程导论， 清华大学出版社，1998
[8] 汤庸，结构化与面向对象软件方法， 科学出版社，1998
[9] 王华等，Visual C++6． 0编程实例与技巧， 机械工业出版社1999
[10] 钱能，C++程序设计教程， 清华大学出版社，1999
[11] 高强，VVisual C++高级编程技巧， 人民邮电出版社，2000
[12] Edward Yourdon，实用面向对象软件工程教程，电子工业出版社，1998
[13] C常用算法程序集， 清华大学出版社，1994
[14] 空空导弹系统概论编委会，空空导弹系统概论，兵器工业出版社，1997
[15] 吕学富，飞行器飞行力学， 西北工业大学出版社，1995
[16] 纪楚群，导弹空气动力学， 宇航出版社，1996
[17] 徐南荣等，红外辐射与制导， 国防工业出版社，1997
[18] 徐根兴，目标和环境的光学特性， 宇航出版社，1995
[19] 陈佳实，导弹制导和控制系统的分析与设计， 宇航出版社，1989
[20] A．A．列别捷夫、B．A．卡拉巴诺夫，无人驾驶飞行器控制系统动力学， 哈尔滨工业大学出版社，1989
[21] 张平，“L”型二元非成像导引头视场仿真及相关技术探讨， 航空兵器，2000(3)
[22] 关世义，计算飞行力学引论，战术导弹技术， 1998(3)
[23] 屠仁寿等，当前仿真方法学发展中的若干问题， 系统仿真学报10卷1期，1998(2)
[24] 孟晓风等，建模与仿真的智能化、集成化发展综述， 系统仿真学报8卷增刊，1996
[25] 关世义，飞航导弹仿真技术若干问题的探讨，战术导弹技术，1991(1)
[26] 王醒华等，飞行控制系统的一体化仿真软件-SIMLAB， 系统仿真学报8卷1期，1996(2)
[27] 陈卫民，海鹰仿真集成开发环境-Hyside， 系统仿真学报10卷3期，1998(3)
[28] 屠文庆译，红外导引头性能评价仿真软件， 航空兵器，2000(3)
[29] 杜毅民，仿真与型号研制， 航空兵器， 1994(2)
[30] 于剑桥，空面导弹弹道仿真方法研究， 弹箭与制导学报，1997(1)
[31] 赵华超，空导弹总体设计计算机仿真应建立的模型，航空兵器，1991(1)
[32] 王仁铭等，用面向对象编写科学运算类库，航空计算技术， 1998(4)
[33] 惠天舒等，仿真模型的可重用性研究，北京航空航天大学学报，1999(3)
[34] Oren T, GEST-A Modeling and Simulation Language Based on System Theoretic Concepts in Simulation and Model-based Methodologies: An integrative View. New York, 1984
[35] Rosenberg R C et. al. Extensible Simulation Software for Dynamic System Simulation, Simulation, 1992
[36] James Rumbaugh, Object-Oriented Modeling and Design, 1992
[37] Brian Stevens, Frank Lewis, Aircraft Control and Simulation, 1992
[38] E. Bruce Jackson, Results of a Flight Simulation Software Methods Survey, NASA-Langley Research Center Hampton, VA, AIAA, Flight Simulation, Technologies Conference, August 7-9,1995/Baltimore, MD, AIAA 95-3414
[39] Adolph, Charles E., Thorpe, Jack, Simulation, Distributed Simulation, and Synthetic Environments. Future Applications and Challenges, 1996
[40] Blayne Marin, Object-oriented Development of Large Applications, IEEE Software, May 1996, Vol 13, No 3