CN101645101B - General unmanned aerial vehicle simulation modeling method - Google Patents
General unmanned aerial vehicle simulation modeling method Download PDFInfo
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Abstract
The invention relates to a general unmanned aerial vehicle simulation modeling method which comprises six steps of: step one: definition of parameters and variable; step two: partition of all modules; step three: format classification of all mathematic equations; step four: adaptation of the equations; step five: the modeling of the modules; step six: the integration of the system and the identification of the modules. By applying the method, simulation technicians can efficiently establish real simulation performance modules by using a Matlab/Simulink tool according to a mathematical module; the module has good readability, reliability and maintainability and the parameters of the module can be conveniently adjusted. The method has wide utility value and application prospect in the aerospace simulation technical field.
Description
One, technical field:
The invention provides a kind ofly, relate in particular to a kind of general unmanned aerial vehicle simulation modeling method based on the current techique of Matlab/Simulink at the simulation modeling of unmanned aerial vehicle control system.Belong to aerospace simulation technical field, it is specifically related to, and the form of division, simulink simulated layout, the equation of model module is rewritten, the part such as comprehensive of model.
Two, background technology:
In the unmanned aerial vehicle simulation modeling technique, the foundation of model and the expression in analogue system are crucial links.Model is that the mathematical abstractions of the characteristic of objective material object is described, and generally expresses by complex mathematical formula equation, and reach language that simulation software can discern to these complex mathematical formula tables is suitable something of difficulty.It is maintainable poor often to write resulting realistic model with exploitation emulation personnel's experience design, can not realize parameter testing easily, and reliability, readability are difficult to assurance.Be head it off, the invention provides a kind of general unmanned aerial vehicle simulation modeling technique based on Matlab/Simulink, for simulation modeling provides guidance, strengthened readability, the reliability and maintainability of unmanned aerial vehicle simulation model, easily the adjustment of model parameter.
Three, summary of the invention:
1. purpose: the invention provides a kind of general unmanned aerial vehicle simulation modeling method, use this method, emulation technology personnel can utilize the Matlab/Simulink instrument to set up the actual emulation performance model according to mathematical model efficiently, and model has good readability, reliability and maintainability.
2. technical scheme: a kind of general unmanned aerial vehicle simulation modeling method of the present invention, it is to the effect that: clear and definite Model parameter and variable are also unified name earlier, carry out the formulation of logical flow chart once more, the integral layout of simulink and the division of each module.Secondly carry out the summarizing of equation based on the math equation model, the form that conversion emulation current techique requires utilizes and writes the m file and rewrite each equation and carry out building of each sub-module for required form among the simulink.Carry out the integration of each module and the sign of module at last.
A kind of general unmanned aerial vehicle simulation modeling method of the present invention, the concrete steps of this method are as follows:
Step 1: the definition of parameter and variable
Variable in the statistics block mold and parameter are also named respectively and are identified, and wherein all names are English word or phrase, if its word or phrase use abbreviation to replace when too tediously long.
Step 2: carry out each Module Division
Carry out the division of each module and conclude the math equation of describing each functions of modules or characteristic, mainly be divided into following several module: unmanned vehicle kinetic model module, control F rule module, expectation value and flight path load module, environmental characteristics description and interference module, data disaply moudle etc.Concrete condition suitably increases and decreases according to the complexity of realistic model, and cooks up the data stream between each module, the data flow diagram between the module of drawing.
Step 3: each math equation form arrangement
1) amount that will find the solution in each math equation is placed on one side of equation equal sign separately, for example
Wherein y is a known parameters for the variable a that will find the solution, and final arrangement is
2) carry out the simplification of each equation.
Step 4: the rewriting of equation
1) writes each variable sequence number by the cn module input sequence under the User-Defined Functions file among the simulink or S function input sequence is write each variable sequence number by C language array standard.
2) in matlab, set up the m file in the following order: operation matlab → selection File menu → selection New menu → selection M-file menu option → set up m file.
Import in each equation the equation formula of the equation another side that equates with institute changes persuing amount, and give a variable among the matlab as character string, for example it
Order
3) carry out the replacement of variable and parameter by required form,, carry out corresponding replacement by programmed variable sequence number for the Fcn module under the User-DefinedFunctions file in simulink or S function module can use.Replace the strrep statement that adopts among the matlab.
Step 5: the modeling of each module
1) utilizes other modules of Fcn module or S function module and simulink to carry out the simulink modeling of each module, utilize out and in module to reserve the data interaction interface of each intermodule.
2) content that each module comprised is chosen set up subsystem, each module is encapsulated.
Step 6: the integration of system and the sign of each module
1) each module is carried out the connection of data interaction correspondence and put planning in order.
2) utilize Edit Mask function to add picture and sign for each module.
3. advantage and effect: the invention provides a kind of general unmanned aerial vehicle simulation modeling method, use this method, emulation technology personnel can utilize the Matlab/Simulink instrument to set up the actual emulation performance model according to mathematical model efficiently, and model has good readability, reliability and maintainability, easily model parameter is adjusted.
Four, description of drawings:
Fig. 1 general unmanned aerial vehicle simulation modeling method process flow diagram
Fig. 2 model module exploded view
Fig. 3 kinetic model module map
Fig. 4 control law module map
Table 1 variable ordering example table
All English symbol implications are described as follows in this instructions:
Matlab: being the abbreviation of matrix experiment chamber (Matrix Laboratory), is one of mathematics class technological applications software, uses the advanced techniques computational language and the interactive environment of algorithm development, data visualization, data analysis memory numerical evaluation.
Simulink: it is a kind of visual simulating instrument of Matlab, and the integration environment of dynamic system modeling, emulation and an analysis-by-synthesis is provided.In this environment, need not a large amount of writing programs, and, just can construct complication system only by the simple and direct mouse action.
Subsystem: can carry out the encapsulation of submodule by it for selecting the order (Create Subsystem) in right-click occurs after a plurality of visualization model the shortcut menu.
Edit Mask: behind the encapsulation submodule, the right-click submodule, the order (Edit Mask) in the shortcut menu that occurs can encapsulate the operations such as sign, mark, pinup picture of submodule by it, carries out the visual edit of submodule.
Strrep: be the string operation function among the Matlab, it uses use-case, and (s3) it act as the place of the s2 that occurs among the s1 is replaced with s3 for s1, s2 as strrep.
User defined function: be a library name in the simulink model bank.
Fcn: be a module title in the User defined function storehouse.
Out, in: be the output among the simulink, load module.
Five, embodiment:
This method is implemented time institute's use equipment for the computer equipment of matlab software can be installed, and computing machine should be installed Matlab software, and the Matlab software version is 6.5 or its above version.Computer equipment is operated under the normal temperature environment, supports the mouse-keyboard operation.
Below in conjunction with accompanying drawing concrete modeling process is further detailed, wherein general unmanned aerial vehicle simulation modeling technique particular flow sheet such as Fig. 1.
A kind of general unmanned aerial vehicle simulation modeling method of the present invention, the concrete steps of this method are as follows:
Step 1: variable and the parameter and respectively name of statistics in the block mold identifying, and rewrites and modeling provides the variable sequence for the simulink pattern of model, is that the numerical value of parameter is replaced and the adjustment of parameter is prepared basic.Wherein all names are English word or phrase, if its word or phrase use abbreviation to replace when too tediously long.Can replace with sim as simulation.
Step 2: carry out the division of each submodule.Divide each emulation module according to different functional requirements, mainly be divided into following several module: the required vehicle dynamics model module of object, expectation value and flight path load module, control law module, environmental characteristics description and interference module, data disaply moudle etc.Concrete condition suitably increases and decreases according to the complexity of realistic model.Provide function declaration to each module, the explanation of input traffic and the explanation of output stream, and drawing data flow graph are as Fig. 2.
Carry out each concrete module introduction at the emulation module of concluding.
The kinetic model module mainly comprises: data input unit, angle of attack yaw angle find the solution part, topworks's model, dynamics and kinematics model, integral element, data output unit.Data such as reception environment parameter, interference volume, controlled quentity controlled variable, specific design is referring to Fig. 3.
The control law module mainly comprises: data input unit, and trajectory planning, controlled quentity controlled variable is calculated, data output unit.Data such as its receiving position amount, attitude amount, control expectation value, trajectory planning circuit, specific design is referring to Fig. 4.
Environmental characteristics is described and interference module mainly comprises: environment parameter simulation, interference volume simulation.
Expectation value and flight path load module: expectation value is set, expectation value is exported, the aircraft flight path is set, the output of aircraft flight path.
Data disaply moudle: critical data amount displayed record.
Step 3: each math equation form arrangement.
The amount that will find the solution in each math equation is placed on one side of equation equal sign separately, for example
Wherein y is a known parameters for the variable a that will find the solution, and final arrangement is
Carry out the simplification of each equation, each parameter wherein, variable name will unifying by previous definition.
Step 4: the rewriting of equation.
By the Fcn module input sequence under the User-Defined Functions file among the simulink write each variable sequence number or S function input sequence write each variable sequence number by C language array standard can be with reference to table 1.
Table 1
| Name variable | The Fcn variable format | S function variable form | Remarks |
| pitch | ?u(1) | x[0] | The angle of pitch |
| yaw | ?u(2) | x[1] | Crab angle |
| roll | ?u(3) | x[2] | Roll angle |
| p | ?u(4) | x[3] | Angle of pitch angular velocity |
| q | ?u(5) | x[4] | Roll angle angular velocity |
| R | ?u(6) | x[5] | Crab angle angular velocity |
| u | ?u(7) | x[6] | X axle speed |
| v | ?u(8) | x[7] | Y axle speed |
| w | ?u(9) | x[8] | Z axle speed |
| x | ?u(10) | x[9] | Position quantity x coordinate |
| y | ?u(11) | x[10] | Position quantity y coordinate |
| h | ?u(12) | x[11] | Position quantity h height |
Write the m file and carry out the conversion of equation according to the form that needs of used module among the simulink.In matlab, set up the m file in the following order: operation marlab → selection File menu → selection New menu → selection M-file menu option → set up m file.Carrying out the m file content again sets up, wherein mainly give a variable among the matlab as character string with the equation formula of the equation another side that equates with institute changes persuing amount in each equation, carrying out the character string replacement with the strrep function, parameter is replaced with concrete numerical value, and variable replaces to the required input variable vector form of Fcn module among the simulink.Like this separate equation is rewritten one by one.
Step 5: utilize other modules of Fcn module or S function module and simulink to carry out the simulink modeling of each module, utilize out and in module to reserve the data interaction interface of each intermodule.Content to each module is utilized subsystem after this module is set up fully, it is encapsulated, and only reserves data input/output interface so that carry out data interaction with other modules by data flow diagram.
Step 6: each module is carried out corresponding connection and put planning in order by data flow diagram.Utilize the EditeMask function to add picture and sign for each module.
Claims (1)
1. general unmanned aerial vehicle simulation modeling method, it is characterized in that: these method concrete steps are as follows:
Step 1: the definition of parameter and variable
Variable in the statistics block mold and parameter are also named respectively and are identified, and wherein all names are English word and phrase, use abbreviation to replace as if its word, when phrase is too tediously long;
Step 2: carry out each Module Division
Carry out the division of each module and conclude the math equation of describing each functions of modules and characteristic, and be divided into following several module: unmanned vehicle kinetic model module, control F rule module, expectation value and flight path load module, environmental characteristics description and interference module, data disaply moudle; Concrete condition suitably increases and decreases according to the complexity of realistic model, and cooks up the data stream between each module, the data flow diagram between the module of drawing;
Step 3: each math equation form arrangement
1) amount that will find the solution in each math equation is placed on one side of equation equal sign separately, as
, wherein: the variable of y for finding the solution, a is a known parameters, final arrangement is
2) carry out the simplification of each equation;
Step 4: the rewriting of equation
1) writes each variable sequence number by the Fcn module input sequence under the User-Defined Functions file among the simulink or S function input sequence is write each variable sequence number by C language array standard;
2) in matlab, set up the m file in the following order: operation matlab → selection File menu → selection New menu → selection M-file menu option → set up m file;
Import in each equation the equation formula of the equation another side that equates with institute changes persuing amount, and give a variable among the matlab as character string it, as
, order
3) carry out the replacement of variable and parameter by required form, for the Fcn module under the User-DefinedFunctions file in simulink, S function module can use, carry out corresponding replacement by programmed variable sequence number, replace the strrep statement that adopts among the matlab;
Step 5: the modeling of each module
1) utilizes other modules of Fcn module, S function module and simulink to carry out the simulink modeling of each module, utilize out and in module to reserve the data interaction interface of each intermodule;
2) content that each module comprised is chosen set up subsystem, each module is encapsulated;
Step 6: the integration of system and the sign of each module
1) each module is carried out the connection of data interaction correspondence and put planning in order;
2) utilize Edit Mask function to add picture and sign for each module.
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| CN102890452B (en) * | 2012-10-11 | 2014-11-26 | 西北工业大学 | Aircraft modeling method based on maximum information content-credibility criterion of variable metrical data |
| CN103593524B (en) * | 2013-11-13 | 2014-10-01 | 北京航空航天大学 | Dynamics modeling and analyzing method for aerospace vehicle |
| CN105068444B (en) * | 2015-07-28 | 2017-08-25 | 北京航空航天大学 | A kind of universal Unmanned Aerial Vehicle Data Link analogue system |
| CN108614907A (en) * | 2016-12-12 | 2018-10-02 | 中国航空工业集团公司成都飞机设计研究所 | A kind of unmanned plane during flying course line and landform collision detection method |
| CN108496121B (en) * | 2017-08-25 | 2022-01-25 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle simulated flight system, method, equipment and machine readable storage medium |
| CN108399273B (en) * | 2018-01-15 | 2021-07-27 | 北京航空航天大学 | Decision decomposition method for writing digital aircraft source code by artificial intelligence programmer |
| CN110516298A (en) * | 2019-07-19 | 2019-11-29 | 陕西蓝箭航天技术有限公司 | Carrier rocket common simulation modeling method and storage medium |
| CN115293069B (en) * | 2022-09-26 | 2023-01-06 | 北京云庐科技有限公司 | System for intelligent optimization of simulation control parameters of aircraft external flow field |
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Application publication date: 20100210 Assignee: Beijing Heng Long Eagle Polytron Technologies Inc Assignor: Beihang University Contract record no.: 2016990000310 Denomination of invention: General unmanned aerial vehicle simulation modeling method Granted publication date: 20110601 License type: Common License Record date: 20160802 |
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