无人机飞控系统半物理集成框架研究与实现

发布时间：2019-03-19 19:01

【摘要】：随着无人机事业的飞速发展,无人机所担负的功能不断增加,用途越来越广,研制任务也逐渐加大,而飞控系统作为无人机的控制核心,其工作情况直接影响到无人机的飞行性能,因此对飞控系统进行静态测试、动态检测是非常关键且必要地,而目前条件下完成动态测试所用到的仿真计算机,其存在体积大、操作繁琐等诸多不足,因此急需设计具有飞行仿真功能的半物理集成框架,该半物理集成框架在力求提高测试与仿真精确度的前提下兼备小型化、便携式且操作简单等优点。本文的主要工作如下:首先,论文通过对现有半物理仿真技术进行分析和优劣比较,首次采用美国TERN公司生产的体积小、集成度高、性能优异的586-Drive嵌入式微处理器为核心模块进行半物理集成框架的总体搭建,并完成相应硬件模块的底层驱动开发与调试工作。其次,针对不同无人机在动力学模型中气动力模型、发动机模型、惯量模型和重心模型不同的特点,利用XML技术将上述模型建模时所用到的各系数做成以XML配置文件的形式进行存储和读取,并将其制成模板,实现模型参数的动态加载,提高仿真平台的通用性。再次,采用C++语言编写无人机飞行仿真软件,依据无人机气动力系数建立六自由度非线性气动力模型,通过对各种数值积分算法的比较,选择阿当姆斯法(ADAMS)对六自由度模型进行积分解算,归纳各传感器接口的仿真特性并建立相应的模型,实现无人机仿真。最后,利用C++Builder 6.0语言编写地面仿真控制软件,主要实现无人机初始状态、初始条件、大气环境及外力、力矩设置的加载,控制指令的发送以及飞行参数、舵偏角、大气机数据等飞行仿真参数的显示等功能。
[Abstract]:With the rapid development of unmanned aerial vehicle (UAV), the function of UAV is increasing, the use of UAV is more and more extensive, and the task of developing UAV is increasing gradually, and the flight control system is the control core of UAV. Its working condition directly affects the flight performance of UAV, so the static test of the flight control system is very important and necessary, and the simulation computer used to complete the dynamic test under the present condition has a large volume. Therefore, it is urgent to design a semi-physical integration framework with flight simulation function. The semi-physical integration framework has the advantages of miniaturization, portable and simple operation on the premise of improving the precision of test and simulation. The main work of this paper is as follows: firstly, through the analysis and comparison of the existing semi-physical simulation technology, the small size and high integration of the American TERN company are adopted for the first time. The 586-Drive embedded microprocessor with excellent performance is used as the core module to build the semi-physical integration framework and complete the low-level driver development and debugging of the corresponding hardware modules. Secondly, according to the different characteristics of aerodynamic model, engine model, inertia model and barycenter model of different UAV in dynamics model, The coefficients used in modeling are stored and read in the form of XML configuration file by using XML technology, and they are made into templates to realize the dynamic loading of model parameters and improve the generality of the simulation platform. Thirdly, the flight simulation software of UAV is programmed with C language. Based on the aerodynamic coefficient of UAV, the nonlinear aerodynamic model of six degrees of freedom is established, and the comparison of various numerical integration algorithms is carried out. The six-degree-of-freedom (6-DOF) model is solved by using the Ardenms method (ADAMS). The simulation characteristics of each sensor interface are summarized and the corresponding model is established to realize the UAV simulation. Finally, the ground simulation control software is programmed with C Builder 6.0.It mainly realizes the initial state of UAV, initial condition, atmospheric environment and external force, loading of torque setting, sending of control commands, flight parameters, rudder angle, and so on. The display of flight simulation parameters, such as the data of a large engine, is equal to other functions.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249

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