半实物仿真中三轴转台姿态运动相似性研究
Attitude Similarity of Three-axis Flight Motion Simulator in Hardware-in-the-Loop Simulation

讨论了在飞行器半实物仿真中，三轴转台的指令姿态角与框架角的理论关系，使转台指令角速率与转台输出的框架角速率相匹配，达到真正的姿态运动相似性，实现飞行器的精确姿态模拟。首先，介绍了飞行器的坐标系和姿态角、转台的坐标系和姿态角、以及两种三轴转台（立式三轴转台和卧式三轴转台）的驱动方程和姿态微分方程。说明了姿态相似性的本质是转台框架输出角速率复现弹体理论角速率，进而使姿态矩阵相似。提出的姿态矩阵相似性方法，理顺了飞行器姿态角与转台框架角之间的关系，有效消除了转台环架结构的影响。数字仿真表明，在转台指令姿态角设置时，转台环架结构影响了理论角速率复现；提出的方法实现了两种三轴转台姿态运动的相似性。半实物仿真说明，研究的方法有效解决了高超声速飞行器飞控半实物仿真系统中姿态运动相似性问题。
The relationship between instruction attitude angles and gimbal angles of three-axis turntable in the missile hardware-in-the-loop (HWIL) simulation is studied. To achieve the real attitude motion similarity, a method is proposed to make the gimbal output angular rate match with the turntable instruction angular rate all the time to realize the accurate simulation of missile attitude. Firstly, the coordinate system and attitude angles of missile, the coordinate system and attitude angles of turntable, and drive equation and attitude differential equation of two kinds of three-axis turntable (flight motion simulator based on vertical or horizontal outer axis stand) are introduced. The essence of attitude similarity is that the turntable output angular rate recurrent missile theoretical angular rate, and thus make the two attitude matrix similar. A horizontal turntable attitude angles setting method considering turntable rotation order that can ensure the attitude matrix similar any time is proposed. The method of attitude matrix similarity proposed definitudes the relationship between the missile attitude angles and gimbal angles of turntable, which can eliminate the bad effect of the improper gimbal structure of three-axis turntable effectively. The digital simulation result indicates that turntable gimbal structure has influence on recurrenting the theoretical angular rate when setting turntable instruction attitude angles and the proposed attitude angles setting method achieves attitude motion similarity. The HWIL simulation indicates the proposed method can solve the problem of attitude motion similarity efficiently in the HWIL simulation of hypersonic vehicle