半实物仿真系统转台初值及驱动方程奇异性研究

摘要

This paper researches the initial value of flight table in the Hardware-in-the-Loop （HIL） simulation system and the singularity of drive equation. By analyzing the reason of initial value algorithm making singularity, full-scale initial value algorithm is deduced. Base on Dual-Euler method, drive equa- tion of flight table is built, which resolves drive equation singularity and solves random Eulerian angle continuously. Meanwhile, the application of solving singularity in the HIL simulation is discussed.%对半实物仿真系统转台初值和驱动方程的奇异性问题进行了研究。通过分析初值算法产生奇异的原因，推导了全角度条件下转台初值算法；采用双欧拉法推导了转台的驱动方程，解决了驱动方程的奇异性问题，实现了任意姿态角的连续解算；在此基础上对解决奇异性的方法在半实物仿真试验中的应用进行了探讨。