三轴飞行仿真平台控制系统的设计与研究

发布时间：2018-06-17 10:01

本文选题：三轴仿真平台 + STM32　；参考：《南昌航空大学》2016年硕士论文

【摘要】：飞行控制技术是飞行器设计过程中的关键技术之一,随着飞控技术的日益进步,导航、制导和控制技术不断融合,集导航、制导与控制为一体的飞行控制系统在现代飞行器控制系统设计中成为主流,飞行控制技术在飞行器系统中的核心地位也与日俱增。飞行仿真转台能够模拟出飞行器飞行过程中的姿态运动,在实验室中就能重现空中飞行时的姿态角变化和姿态角速率变化,为惯导传感器提供一个近似真实的运行环境,它是检测飞控系统性能和进行仿真实验的重要装置。本文在分析和学习了国内外对三轴仿真转台系统研究现状的基础上,对飞控系统半物理仿真平台控制系统的构成及其特性进行了研究,提出了一种飞控系统半物理仿真平台的控制系统方案,本文的三轴仿真转台控制系统是以ARM处理器为核心控制器,系统采用PC机与下位机两级控制,使用控制算法,对三轴转台的转动进行精确控制。捷联惯导传感器是本系统的测试元件,通过对几款常用的MEMS姿态传感器进行对比后,综合考虑实际要求以及捷联惯导系统精度、灵敏度等因素选择合适的传感器。控制系统采用模块化设计的思想,分别设计了供电电源、姿态传感器、步进电机驱动电路、液晶显示屏、编码器接口、串口通讯等模块。为了提高惯性导航系统的精度,降低误差,本文研究了欧拉角法、方向余弦法和四元数法三种姿态算法,并结合实际要求选用四元数法作为本课题使用的姿态算法。通过陀螺仪采集到的静态角速率数据,利用软件结合四元数法获得惯性传感器的静态姿态角误差图。本文还研究了模糊控制算法理论,建立了外环轴的数学模型,运用的模糊控制工具箱,设计外环轴的模糊控制算法。在环境下,通过仿真获得模糊控制器在阶跃函数输入时的输出响应曲线,通过与传统控制算法的输出曲线对比得到,模糊算法的非线性性能要明显优于传统算法。在软件结构上,对各个底层模块进行驱动设计,并利用设计的硬件电路对各个模块进行应用测试。对PC上位机软件的进行开发,调试实现串口通信、转动控制、姿态数据显示等功能。
[Abstract]:Flight control technology is one of the key technologies in the aircraft design process. With the development of flight control technology, navigation, guidance and control technology are constantly integrated and integrated navigation. The flight control system, which integrates guidance and control, has become the mainstream in the design of modern aircraft control system, and the core position of the flight control technology in the aircraft system is increasing day by day. The flight simulation turntable can simulate the attitude motion of the aircraft during flight, and can reproduce the change of attitude angle and attitude rate in the laboratory, which provides an approximate real operating environment for the inertial navigation sensor. It is an important device for detecting the performance of flight control system and conducting simulation experiments. Based on the analysis and study of the current situation of the three-axis simulation turntable system at home and abroad, the structure and characteristics of the semi-physical simulation platform control system for the flight control system are studied in this paper. This paper presents a control system scheme of semi-physical simulation platform for flight control system. In this paper, the control system of three-axis simulation turntable is based on arm processor, the system adopts PC and lower computer two-level control, and uses control algorithm. The rotation of the three-axis turntable is controlled accurately. Strapdown inertial navigation sensor is the test element of this system. By comparing several commonly used MEMS attitude sensors, the practical requirements and the precision and sensitivity of sins are considered comprehensively. The control system adopts the idea of modular design. The modules of power supply, attitude sensor, stepper motor driving circuit, liquid crystal display screen, encoder interface and serial port communication are designed respectively. In order to improve the precision of inertial navigation system and reduce the error, three attitude algorithms, Euler angle method, directional cosine method and quaternion method, are studied in this paper. Through the static angular rate data collected by gyroscope, the static attitude angle error diagram of inertial sensor is obtained by using software and quaternion method. This paper also studies the theory of fuzzy control algorithm, establishes the mathematical model of the outer ring axis, and designs the fuzzy control algorithm of the outer ring axis by using the fuzzy control toolbox. In the environment, the output response curve of the fuzzy controller when the step function is input is obtained by simulation. Compared with the output curve of the traditional control algorithm, the nonlinear performance of the fuzzy algorithm is obviously better than that of the traditional algorithm. In the software structure, the drive design of each underlying module is carried out, and the application test of each module is carried out by using the designed hardware circuit. The PC software is developed and debugged to realize the functions of serial communication, rotation control, attitude data display and so on.
【学位授予单位】：南昌航空大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.1

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