空空导弹控制系统的HLA仿真研究
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摘要
空空导弹研制涉及到空气动力学、材料、结构、导航制导与控制等多个仿真平台和专业领域,高层体系结构HLA(high level architecture)是新一代的分布式协同仿真结构,其分布式的结构使其能够充分利用局域网的计算机资源,使得各专业各领域的仿真都能够通过该平台进行交互。HLA技术实现了模型的重用和扩展,本文采用HLA技术实现空空导弹控制系统的HLA协同仿真,为导弹仿真系统整体设计与优化提供理论依据和技术支持。
首先针对多学科、跨平台的HLA/RTI分布式仿真方法进行研究,研究该平台运行支撑环境中的联盟管理、声明管理、对象管理等机理。以组件的重用和可扩展为目标,分析构建分布式设计的优化协调技术与方法。然后以空空导弹、飞机为仿真对象,分析了导弹攻击空中目标仿真系统的功能,建立了空空导弹的HLA分布式仿真系统结构。
分析研究了已有Simulink模型和HLA集成的方案,在空空导弹控制系统各功能模块需求和能力分析的基础上,为实现已有控制系统模型的重用和扩展,利用代码扩展法实现了控制系统的HLA转换;适配器方法的运用则实现了各联盟成员之间的数据交互。重点阐述了在VC++开发环境下,将Matlab/Simulink开发的空空导弹控制系统代码进行扩展的过程,以及通过MATLAB引擎实现控制器盟员和受控对象盟员的设计。通过HLA仿真验证系统的研究,使基于Matlab/Simulink开发的控制系统算法应用于分布式协同仿真中,与具有HLA接口的仿真模型进行交互。
Air-to-air missile involves in aerodynamics、materials、structure、guidance and control and many other simulation platforms and areas of expertise. High-level architecture HLA is a new generation co-simulation of distributed architecture and its distributed structure enable them to take full advantage of the LAN computer resources. Allowing simulation of various professional fields are able to interact through the platform. HLA technology implemented the component reusability and model expandability. Using HLA technology, the HLA co-simulation of air-to-air missile control system was achieved. And it provides a theoretical basis and technical support for missile simulation system design and optimization.
First, the paper studied HLA distributed simulation ways of the multi-disciplinary and cross-platform. Federation management、declaration management and object management mechanism were studied in the Run-time Infrastructure . With the target of the component reusability and expandability, the optimization of the coordination of technology and methods of building distributed design were analyzed. Then air-to-air missiles、plane were main simulation objects and the functions of missile attacking air target simulation system was analyzed. HLA distributed simulation system architecture of air-to-air missiles was established.
Based on the analysis of air-to-air missile control system function modules' demand and ability, the paper analyzed and researched the integrated solutions of existing simulink models to HLA. In order to achieve the reuse of existing control system model and expansion, code extension method was used to achieve the control system HLA conversion. Adapter method was used to accomplish the data exchange among members. The paper described emphatically the process of code expansion of the Matlab / Simulink development of air to air missile control system in the VC + + development environment, and the design of controller federate and controlled object federate were achieved through the MATLAB engine. By studying the HLA simulation system, Matlab / Simulink control system algorithm was applied to the development of distributed collaborative simulation, and the interaction was achieved among simulation models with HLA interface to interact.
首先针对多学科、跨平台的HLA/RTI分布式仿真方法进行研究,研究该平台运行支撑环境中的联盟管理、声明管理、对象管理等机理。以组件的重用和可扩展为目标,分析构建分布式设计的优化协调技术与方法。然后以空空导弹、飞机为仿真对象,分析了导弹攻击空中目标仿真系统的功能,建立了空空导弹的HLA分布式仿真系统结构。
分析研究了已有Simulink模型和HLA集成的方案,在空空导弹控制系统各功能模块需求和能力分析的基础上,为实现已有控制系统模型的重用和扩展,利用代码扩展法实现了控制系统的HLA转换;适配器方法的运用则实现了各联盟成员之间的数据交互。重点阐述了在VC++开发环境下,将Matlab/Simulink开发的空空导弹控制系统代码进行扩展的过程,以及通过MATLAB引擎实现控制器盟员和受控对象盟员的设计。通过HLA仿真验证系统的研究,使基于Matlab/Simulink开发的控制系统算法应用于分布式协同仿真中,与具有HLA接口的仿真模型进行交互。
Air-to-air missile involves in aerodynamics、materials、structure、guidance and control and many other simulation platforms and areas of expertise. High-level architecture HLA is a new generation co-simulation of distributed architecture and its distributed structure enable them to take full advantage of the LAN computer resources. Allowing simulation of various professional fields are able to interact through the platform. HLA technology implemented the component reusability and model expandability. Using HLA technology, the HLA co-simulation of air-to-air missile control system was achieved. And it provides a theoretical basis and technical support for missile simulation system design and optimization.
First, the paper studied HLA distributed simulation ways of the multi-disciplinary and cross-platform. Federation management、declaration management and object management mechanism were studied in the Run-time Infrastructure . With the target of the component reusability and expandability, the optimization of the coordination of technology and methods of building distributed design were analyzed. Then air-to-air missiles、plane were main simulation objects and the functions of missile attacking air target simulation system was analyzed. HLA distributed simulation system architecture of air-to-air missiles was established.
Based on the analysis of air-to-air missile control system function modules' demand and ability, the paper analyzed and researched the integrated solutions of existing simulink models to HLA. In order to achieve the reuse of existing control system model and expansion, code extension method was used to achieve the control system HLA conversion. Adapter method was used to accomplish the data exchange among members. The paper described emphatically the process of code expansion of the Matlab / Simulink development of air to air missile control system in the VC + + development environment, and the design of controller federate and controlled object federate were achieved through the MATLAB engine. By studying the HLA simulation system, Matlab / Simulink control system algorithm was applied to the development of distributed collaborative simulation, and the interaction was achieved among simulation models with HLA interface to interact.
引文
[1]陈晓波.基于HLA的协同仿真运行技术研究[J].系统仿真学报,2003,15(12):1707-1711.
[2]肖田元.基于HLA的一体化协同设计、仿真、优化平台[J].系统仿真学报, 2008,20(13):3542-3547.
[3]夏丰领.基于HLA的地空导弹仿真系统设计[J].系统仿真学报,2007,19(2):296-299.
[4]赵秋惠.空空导弹制导控制系统设计与仿真研究[J].西北工业大学,2006,5-30.
[5]周彦,戴伟剑等.HLA仿真程序设计[M].北京:电子工业出版社2002:1-54.
[6] Ding Baochun. Application of System Simulation Technology to Demonstration of Missile Development [J].Journal of System Simulation (S 1004-731X), 2001, 13(4): 528-530.
[7] Paul K, Davis Robert H. Anderson. Improving the Compos ability of DoD Models and Simulations [J].The Journal of Defense Modeling and Simulation: Applications, Methodology, Technology, 2004, 1(1):5-17.
[8]康凤举等.现代仿真技术与应用[M].北京:国防工业出版社,2006,224-252.
[9]李立坤.空空导弹制导控制系统仿真的作用、现状与未来[J].航空兵器,2003年第1期.
[10]刘兴堂.导弹制导控制系统分析、设计与仿真[M].西安:西北工业大学出版社,2006,4-5.
[11] Some Extensions of a New Method to Analyze Complete Stability of Neural Networks Mauro Forte, 2002, 1230-1238.
[12]曹琦.基于HLA/RTI的联合仿真建模技术框架[J].系统仿真学报, 2008,20(11):2920-2924.
[13] Defense Modeling and Simulation Office. RTI 1.3-Next Generation Programmer's Guide Version 3[M],2000.
[14]熊光楞等.协同仿真与虚拟样机技术[M].北京:清华大学出版社,2004,99-167.
[15]杨姝君.基于Simulink的导弹控制系统设计与仿真[J].弹箭与制导学报,2005,25(4):27-29.
[16] Petty, M.D. The computational complexity of the high level architecture data distribution management matching and connecting processes. Simulation Modeling Practice and Theory, 2004.12(3-4): 217-237.
[17]宋龙.中远距空空导弹制导控制系统建模与仿真研究[J].弹箭与制导学报,2006,26(4) :1-6.
[18]刘智平.战术导弹现代自动驾驶仪设计方法综述[J] .航天控制,2006,24(5):91-96.
[19]付正军,王永红译.计算机仿真中的HLA技术[M].北京:国防工业出版社,2003.
[20] Calvin, J. R.Weatherly. An Introduction to the High Level Architecture (HLA) Runtime Infrastructure (RTI), 1996.
[21] Moller, B. Lostrand, M. Karlsson. An Overview of the HLA Evolved Modular FOM, 2007.
[22]葛新辉.分布式计算机仿真框架及其关键技术研究[J].计算技术与自动化,2000,13(3):68-72.
[23]戴忠健.基于HLA的分布式交互仿真系统的开发实例[J].系统工程理论与实,2005,25(1):105-109.
[24] Cai, W. et al .Federate migration in HLA-based simulation. Future Generation Computer Systems, 2005.21(1): 87-95.
[25]蒲蓬勃.基于HLA的仿真技术的研究[J].福建电脑,2007,12:39-40.
[26]张和明.基于Web服务和HLA的分布式建模与仿真环境[J].系统仿真学报, 2006,18(z2):343-346.
[27] Das, S. K. and A. Reyes. An approach to integrating HLA federations and genetic algorithms to support automatic design evaluation for multi-agent systems. Simulation Practice and Theory, 2002.9(3-5): 167-192.
[28] Zhao, H. HLA streaming and real-time extensions, in Engineering, Electronics and Electrical. 2002, University of Ottawa (Canada).
[29] Li. et al. Multimedia communication over HLA/RTI. Simulation Modeling Practice and Theory, 2006, 14(2): 161-176.
[30] Bluemel E, SChumann M, SchulzeT.Using HLA and SLX for Logistical Simulation.http://www.kompetenzzentru-hla.de/.
[31] Henriksen J O·SLX:the X is for extensibility.Proceedings of the 2000 Winter Simulation Conference, Orlando, FL, USA,December2000.ACM, 2000:183-190.
[32] Chen, D. et al. Large scale agent-based simulation on the grid. Future Generation Computer Systems, 2008, 24(7): 658-671.
[33]王庆楠.基于面向方面技术的HLA联邦成员开发方法[J].系统仿真学报,2007,19(6):1296-1299.
[34]贾丽.基于HLA分布式仿真系统的模型驱动设计方法[J].系统仿真学报,2007,19(23):5415-5418.
[35]田新华,冯润明.一种将SIMULINK/Stateflow模型改造成HLA成员的方法[J].系统仿真学报,2002,7(14):883-886.
[36] Sven Pawletta, Wolfgang Drewelow, Thorsten Pawletta. HLA-Based Simulation within an Interactive Engineering Environment. [C]. Fourth IEEE International Workshop on Distributed Simulation and Real-Time Applications, 2000, 97-102.
[37]郭斌.MATLAB与HLA/RTI通用适配器研究与实现[J].系统仿真学报,2004,16(6):1275-1279.
[38]章德宾.基于HLA/RTI的分布式组织活动建模研究[J].系统仿真学报,2008,20(2):542-545.
[39]马治明.飞航导弹自动驾驶仪系统控制方案研究[J].计算机测量与控制, 2009,17(2):357-359.
[40]魏华.基于MEMS陀螺的自动驾驶仪设计[D].南京:南京理工大学,2007:5-7.
[41]姚成法.BTT导弹鲁棒自动驾驶仪设计[D].西安:西北工业大学,2007:2-6.
[42]万夕干.防空导弹控制系统分析[J].上海航天,2009,1(2):22-26.
[43] Milestone report on aerospace control. Control Engineering Practice, 2005.13(3): 329-331.
[44]陈留涛.基于HLA的兵器靶场协同仿真框架设计[J].系统仿真学报, 2008.20(11): 2909,2913-2919.
[45]徐忠富.基于HLA的电子信息作战训练仿真系统分析与设计[J].系统仿真学报, 2008.20(2):336-340.
[46]李军等.基于HLA/Simulink的通信对抗链路仿真系统开发[J].系统仿真学报,2006,18(8):2166-2169.
[47] Dahmann, J., R. Fujimoto, and R. Weatherly.The DoD high level architecture: an update. 1998: IEEE Computer Society Press Los Alamitos, CA, USA.
[48] Dzermajko, C. Performance comparison of data distribution management strategies in large-scale distributed simulation, in Computer Science.2004, University of North Texas.
[49] Petty, M.D.Comparing high level architecture data distribution management specifications 1.3 and 1516. Simulation Practice and Theory, 2002, 9(3-5): 95-119.
[50] Maamar, Z.Design of a simulation environment based on software agents and the high level architecture.Information and Software Technology, 2003. 45(3): 137-148.
[51] Fujimoto, R. etal. Design of High Performance RTI Software. 2000: IEEE Computer Society Washington, DC, USA.
[52] Fujimoto, R. and Hoare. HLA RTI Performance in High Speed LAN Environments.1998.
[53] Van Hook, D. and J. Calvin.Data Distribution Management in RTI 1.3, 1998.
[54] Wilcox, A. G. Burger, and Hoare, Advanced distributed simulation: a review of developments and their implication for data collection and analysis. Simulation Practice and Theory, 2000, (3-4):201-231.
[55] Kuijpers, N., etal. Applying Data Distribution Management and Ownership Management Services of the HLA Interface Specification, 1999.
[56] Moller, B. and C. Dahlin. A First Look at the HLA Evolved Web Service API.2006.
[57]张志利.基于HLA的分布交互仿真程序设计[J].系统仿真学报,2006,18(z2):311-314.
[58]乔海泉.将Simulink模型用于HLA仿真[J].系统仿真学报,2006,18(2):337-400.
[2]肖田元.基于HLA的一体化协同设计、仿真、优化平台[J].系统仿真学报, 2008,20(13):3542-3547.
[3]夏丰领.基于HLA的地空导弹仿真系统设计[J].系统仿真学报,2007,19(2):296-299.
[4]赵秋惠.空空导弹制导控制系统设计与仿真研究[J].西北工业大学,2006,5-30.
[5]周彦,戴伟剑等.HLA仿真程序设计[M].北京:电子工业出版社2002:1-54.
[6] Ding Baochun. Application of System Simulation Technology to Demonstration of Missile Development [J].Journal of System Simulation (S 1004-731X), 2001, 13(4): 528-530.
[7] Paul K, Davis Robert H. Anderson. Improving the Compos ability of DoD Models and Simulations [J].The Journal of Defense Modeling and Simulation: Applications, Methodology, Technology, 2004, 1(1):5-17.
[8]康凤举等.现代仿真技术与应用[M].北京:国防工业出版社,2006,224-252.
[9]李立坤.空空导弹制导控制系统仿真的作用、现状与未来[J].航空兵器,2003年第1期.
[10]刘兴堂.导弹制导控制系统分析、设计与仿真[M].西安:西北工业大学出版社,2006,4-5.
[11] Some Extensions of a New Method to Analyze Complete Stability of Neural Networks Mauro Forte, 2002, 1230-1238.
[12]曹琦.基于HLA/RTI的联合仿真建模技术框架[J].系统仿真学报, 2008,20(11):2920-2924.
[13] Defense Modeling and Simulation Office. RTI 1.3-Next Generation Programmer's Guide Version 3[M],2000.
[14]熊光楞等.协同仿真与虚拟样机技术[M].北京:清华大学出版社,2004,99-167.
[15]杨姝君.基于Simulink的导弹控制系统设计与仿真[J].弹箭与制导学报,2005,25(4):27-29.
[16] Petty, M.D. The computational complexity of the high level architecture data distribution management matching and connecting processes. Simulation Modeling Practice and Theory, 2004.12(3-4): 217-237.
[17]宋龙.中远距空空导弹制导控制系统建模与仿真研究[J].弹箭与制导学报,2006,26(4) :1-6.
[18]刘智平.战术导弹现代自动驾驶仪设计方法综述[J] .航天控制,2006,24(5):91-96.
[19]付正军,王永红译.计算机仿真中的HLA技术[M].北京:国防工业出版社,2003.
[20] Calvin, J. R.Weatherly. An Introduction to the High Level Architecture (HLA) Runtime Infrastructure (RTI), 1996.
[21] Moller, B. Lostrand, M. Karlsson. An Overview of the HLA Evolved Modular FOM, 2007.
[22]葛新辉.分布式计算机仿真框架及其关键技术研究[J].计算技术与自动化,2000,13(3):68-72.
[23]戴忠健.基于HLA的分布式交互仿真系统的开发实例[J].系统工程理论与实,2005,25(1):105-109.
[24] Cai, W. et al .Federate migration in HLA-based simulation. Future Generation Computer Systems, 2005.21(1): 87-95.
[25]蒲蓬勃.基于HLA的仿真技术的研究[J].福建电脑,2007,12:39-40.
[26]张和明.基于Web服务和HLA的分布式建模与仿真环境[J].系统仿真学报, 2006,18(z2):343-346.
[27] Das, S. K. and A. Reyes. An approach to integrating HLA federations and genetic algorithms to support automatic design evaluation for multi-agent systems. Simulation Practice and Theory, 2002.9(3-5): 167-192.
[28] Zhao, H. HLA streaming and real-time extensions, in Engineering, Electronics and Electrical. 2002, University of Ottawa (Canada).
[29] Li. et al. Multimedia communication over HLA/RTI. Simulation Modeling Practice and Theory, 2006, 14(2): 161-176.
[30] Bluemel E, SChumann M, SchulzeT.Using HLA and SLX for Logistical Simulation.http://www.kompetenzzentru-hla.de/.
[31] Henriksen J O·SLX:the X is for extensibility.Proceedings of the 2000 Winter Simulation Conference, Orlando, FL, USA,December2000.ACM, 2000:183-190.
[32] Chen, D. et al. Large scale agent-based simulation on the grid. Future Generation Computer Systems, 2008, 24(7): 658-671.
[33]王庆楠.基于面向方面技术的HLA联邦成员开发方法[J].系统仿真学报,2007,19(6):1296-1299.
[34]贾丽.基于HLA分布式仿真系统的模型驱动设计方法[J].系统仿真学报,2007,19(23):5415-5418.
[35]田新华,冯润明.一种将SIMULINK/Stateflow模型改造成HLA成员的方法[J].系统仿真学报,2002,7(14):883-886.
[36] Sven Pawletta, Wolfgang Drewelow, Thorsten Pawletta. HLA-Based Simulation within an Interactive Engineering Environment. [C]. Fourth IEEE International Workshop on Distributed Simulation and Real-Time Applications, 2000, 97-102.
[37]郭斌.MATLAB与HLA/RTI通用适配器研究与实现[J].系统仿真学报,2004,16(6):1275-1279.
[38]章德宾.基于HLA/RTI的分布式组织活动建模研究[J].系统仿真学报,2008,20(2):542-545.
[39]马治明.飞航导弹自动驾驶仪系统控制方案研究[J].计算机测量与控制, 2009,17(2):357-359.
[40]魏华.基于MEMS陀螺的自动驾驶仪设计[D].南京:南京理工大学,2007:5-7.
[41]姚成法.BTT导弹鲁棒自动驾驶仪设计[D].西安:西北工业大学,2007:2-6.
[42]万夕干.防空导弹控制系统分析[J].上海航天,2009,1(2):22-26.
[43] Milestone report on aerospace control. Control Engineering Practice, 2005.13(3): 329-331.
[44]陈留涛.基于HLA的兵器靶场协同仿真框架设计[J].系统仿真学报, 2008.20(11): 2909,2913-2919.
[45]徐忠富.基于HLA的电子信息作战训练仿真系统分析与设计[J].系统仿真学报, 2008.20(2):336-340.
[46]李军等.基于HLA/Simulink的通信对抗链路仿真系统开发[J].系统仿真学报,2006,18(8):2166-2169.
[47] Dahmann, J., R. Fujimoto, and R. Weatherly.The DoD high level architecture: an update. 1998: IEEE Computer Society Press Los Alamitos, CA, USA.
[48] Dzermajko, C. Performance comparison of data distribution management strategies in large-scale distributed simulation, in Computer Science.2004, University of North Texas.
[49] Petty, M.D.Comparing high level architecture data distribution management specifications 1.3 and 1516. Simulation Practice and Theory, 2002, 9(3-5): 95-119.
[50] Maamar, Z.Design of a simulation environment based on software agents and the high level architecture.Information and Software Technology, 2003. 45(3): 137-148.
[51] Fujimoto, R. etal. Design of High Performance RTI Software. 2000: IEEE Computer Society Washington, DC, USA.
[52] Fujimoto, R. and Hoare. HLA RTI Performance in High Speed LAN Environments.1998.
[53] Van Hook, D. and J. Calvin.Data Distribution Management in RTI 1.3, 1998.
[54] Wilcox, A. G. Burger, and Hoare, Advanced distributed simulation: a review of developments and their implication for data collection and analysis. Simulation Practice and Theory, 2000, (3-4):201-231.
[55] Kuijpers, N., etal. Applying Data Distribution Management and Ownership Management Services of the HLA Interface Specification, 1999.
[56] Moller, B. and C. Dahlin. A First Look at the HLA Evolved Web Service API.2006.
[57]张志利.基于HLA的分布交互仿真程序设计[J].系统仿真学报,2006,18(z2):311-314.
[58]乔海泉.将Simulink模型用于HLA仿真[J].系统仿真学报,2006,18(2):337-400.