CN103365215A - Semi-physical simulation experimental system for quad-rotor unmanned aerial vehicle and experimental method of semi-physical simulation experimental system - Google Patents

Abstract

The invention discloses a semi-physical simulation experimental system for a quad-rotor unmanned aerial vehicle and an experimental method of the semi-physical simulation experimental system. The system is provided with the quad-rotor unmanned aerial vehicle. The quad-rotor unmanned aerial vehicle is arranged on a globe joint which is located at the top end of a three-degree-of-freedom aircraft rotary table and has universal performance; the geometric center of the quad-rotor unmanned aerial vehicle is provided with an airborne attitude sensor; the quad-rotor unmanned aerial vehicle comprises an airborne bottom layer control panel; the airborne attitude sensor and the airborne bottom layer control panel are respectively connected with a simulation controller system; and a virtual scene online display computer connected with the simulation controller system is also arranged. The method comprises the following steps of running Simulink software in a host machine by utilizing modules and controls in a Matlab real-time tool kit and building a block diagram of a model for the simulation controller system, wherein the model comprises four subsystems: a subsystem for reading airborne sensor data, a subsystem for generating the virtual displacement of the quad-rotor unmanned aerial vehicle, a flight control algorithm subsystem and a control command transmission and virtual display interface subsystem. According to the semi-physical simulation experimental system for the quad-rotor unmanned aerial vehicle and the experimental method of the semi-physical simulation experimental system disclosed by the invention, the development cycle can be greatly reduced, and meanwhile, the flight experimental cost is saved.

Description

A kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental system and experimental techniques

Technical field

The present invention relates to a kind of unmanned vehicle real-time emulation method.Particularly relate to a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental system and experimental techniques.

Background technology

Four rotor unmanned aircrafts are a kind of of rotary wind type aircraft, adopt the X-type frame, and its flying power derives from four lift that the driven by motor screw propeller produces of frame terminal.This rotary wind type aircraft just designed as far back as 1907 and successfully takes a flight test, until in recent years, be accompanied by the rapid progress of micro-electromechanical technology, inertial navigation technique, material science and energy science, four rotor unmanned aircrafts are just developed fast, and rely on himself extremely strong maneuverability and dirigibility, be widely used in the military and civilian field, attracted large quantities of scientific research personnel.

But four rotor unmanned aircrafts have extremely strong static unstability, and possess the driving of owing, strong coupling and the characteristics such as non-linear in dynamics, these have all increased the design difficulty of flight controller, so flight experiment in kind has a big risk, cost is high, and are subjected to the surrounding environment restriction more.Most colleges and universities and scientific research institution adopt the flight of the method simulated flight device of pure values emulation experiment, though such laboratory facilities are efficiently convenient, because it is difficult to represent truly actual conditions complicated and changeable, the degree of confidence of simulation result are reduced greatly.

In the face of flight in kind and pure values emulation this two kinds of existing drawbacks of experimental technique and contradiction, Hardware In The Loop Simulation Method is a kind of preferably settling mode.It organically combines pure values emulation and full-scale investigation, has both kept material object, has brought into play again the advantage of numerical simulation.For four rotor unmanned aircrafts, also there are many colleges and universities and scientific research organization to propose and built semi-physical emulation platform both at home and abroad.The Canada first university in lake and the experiment porch of University of Western Ontario's design take universal axle bed as core, adopt commercial dSPACE hardware ring controller and software kit thereof integrated whole analogue system.Poland's Silesian University utilizes globe joint and column to make similar experiment porch, and uses the RT-CON real-time software to make up analogue system.

The problems such as it is higher that the semi-physical emulation platform of present four rotor unmanned aircrafts exists the soft and hardware cost, and Systems balanth performance and real-time performance are relatively poor, and in-kind portion keeps very few, and simulated effect is directly perceived not, and means of numerical analysis is convenient not.Design one cover perfect in shape and function, easy and simple to handle and cheap semi-matter simulating system will greatly help the researchist's of four rotor unmanned aircrafts development.

Summary of the invention

Technical matters to be solved by this invention is, a kind of attitude change information that can present truly four rotor unmanned aircrafts is provided, can gives full play to again a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental system and experimental techniques that Computerized Numerical Simulation and virtual Visual Scene make up advantage.

The technical solution adopted in the present invention is: a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems, comprise four rotor unmanned aircrafts, described four rotor unmanned aircrafts are arranged on the globe joint with universal property on Three Degree Of Freedom aircraft turntable top, the geometric center place of described four rotor unmanned aircrafts is provided with airborne attitude sensor, described four rotor unmanned aircrafts include the airborne bottom control plate for control flight, described airborne attitude sensor be connected the bottom control plate and connect respectively the emulation controller system, described emulation controller system is used for creating realistic model, generate simulation code and control simulation process and with airborne attitude sensor and airborne bottom control plate interactive information, also be provided with the online Display control computer of virtual scene that is used for showing virtual change in displacement that is connected with described emulation controller system.

Described four rotor unmanned aircrafts include model plane flight control panel, the receiver that links to each other with model plane flight control panel respectively, and electron speed regulator and the brshless DC motor that links to each other with electron speed regulator, wherein, the input end of described receiver connects telepilot, output terminal connects the input end of the digital signal processor in the airborne bottom control plate, described model plane flight control panel connects the input end of the manual/auto switching chip in the airborne bottom control plate, and electron speed regulator connects the output terminal of the manual/auto switching chip in the airborne bottom control plate.

Described emulation controller system includes for creating realistic model, generating the host computer of simulation code and control simulation process, be used for carrying out simulation code, and with the target machine of airborne attitude sensor and airborne bottom control plate interactive information, and the target machine display that is connected with target machine, described host computer and target machine form LAN (Local Area Network) by router.

The online Display control computer of described virtual scene includes for the computing machine that shows four rotor unmanned aircraft flight condition, and the computing machine that shows Google Earth, the online Display control computer of described virtual scene by the host computer in router and the described emulation controller system and target machine altogether in same LAN (Local Area Network).

A kind of experimental technique of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems, according to artificial tasks, utilize module and control in the Matlab real time toolbox, at host operation Simulink software, for analogue system is built model framework chart, comprise reading machine set sensor data subsystem, generation four rotor unmanned aircraft virtual displacement subsystems, Flight Control Algorithm subsystem and steering order in the designed model and transmit and this four sub-systems of virtual display interface subsystem.

Described reading machine set sensor data subsystem, comprise be used to the attitude information and the angular velocity information that obtain the miniature course of Mti attitude reference system, receive and resolution data with the data acquisition module in the Matlab real time toolbox, through corresponding coordinate transform and metric transformation, thereby obtain three-dimensional Eulerian angle and first derivative values, simultaneously, these data are exported to other subsystems.

Described generation four rotor unmanned aircraft virtual displacement subsystems, comprise the kinetic model of setting up four rotor wing unmanned aerial vehicles, utilize the data of obtaining in the reading machine set sensor data subsystem, kinetic model by four rotor unmanned aircrafts, calculate the virtual three-dimensional linear acceleration of aircraft, and obtain respectively dummy line speed and virtual displacement by twice integral operation.

Described Flight Control Algorithm subsystem comprises two submodules of Flight Control Algorithm and flight path planning, uses respectively the S function module to write, and in flight path planning submodule, the emulation personnel are according to control task designed, designed flight path; Then in conjunction with current flight state, and aerial mission generates corresponding steering order by certain control algolithm in the Flight Control Algorithm submodule, and described flight state comprises real attitude information and virtual displacement information.

Described steering order transmits and comprises with virtual display interface subsystem steering order is sent by serial ports, and with real attitude information and the virtual displacement information exchange cross network and be sent to other terminals of LAN (Local Area Network).

A kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental system and experimental techniques of the present invention, can be under safe and reliable experiment condition, fly to control algorithm and carry out emulation for various intuitively, the attitude change information that can present truly four rotor unmanned aircrafts can be given full play to again the advantage that Computerized Numerical Simulation and virtual Visual Scene make up.The full degree of freedom flight experiment in space that the present invention can be four rotor unmanned aircrafts provides the test result that has reference value, can greatly reduce the R﹠D cycle, saves simultaneously the flight experiment cost.Advantage and beneficial effect that the present invention has are as follows:

1. the present invention is in simulation process, and its controlled device adopts entity four rotor unmanned aircrafts, but not the kinetic model of pure values form, attitude sensor can read real Flight Condition Data in real time, and simulated effect is pressed close to straight truth condition.

2. combined with virtual scene technology of the present invention has been developed the visualization display program on computers, takes full advantage of Google Earth and FlightGear instrument, is convenient to the researchist and observes in real time the Simulation Control effect.

3. the module of Matalb real time toolbox used in the present invention and assembly cost are lower, and have guaranteed on the one hand the high response speed of software and hardware in the simulation process, i.e. real-time has guaranteed portability and the versatility of system code on the other hand.

4. each data terminal in the analogue system (comprising host computer, object computer, visualization display computing machine etc.) all is connected by LAN, and its data interaction fast and stable simultaneously, is easy to extending user terminal on the original system basis.

Emulation and experimental result show, cost of the present invention is low, real-time good, control accuracy is high, and has good portability and extensibility.

Description of drawings

Fig. 1 is that a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems of the present invention consist of block diagram;

Fig. 2 is the formation block diagram of the present invention's four rotor unmanned aircrafts;

Fig. 3 a is the roll angle data and curves that sensor records in the calm flight experiment of attitude;

Fig. 3 b is the pitch angle data curve that sensor records in the calm flight experiment of attitude;

Fig. 3 c is the crab angle data and curves that sensor records in the calm flight experiment of attitude;

Fig. 4 is that deformation trace is followed the tracks of flight experiment displacement data curve.

Among the figure

Rotor unmanned aircraft 2 in 1: four: Three Degree Of Freedom aircraft turntable

3: airborne attitude sensor 4: airborne bottom control plate

5: emulation controller system 51: host computer

52: router five 3: object computer

54: object computer display 6: the online Display control computer of virtual scene

Embodiment

Below in conjunction with embodiment and accompanying drawing a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems of the present invention and experimental technique are made a detailed description.

A kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental system and experimental techniques of the present invention, be that four rotor unmanned aircrafts have made up semi-physical emulation platform, use real aeromodelling aerocraft, and made the Three-degree of Freedom Rotational Platform that contains the multi-directional ball joint for it, adopt MTi inertial navigation unit as attitude sensor, adopt the embedded calculating of PC/104 as the object computer controller of flight simulation, made the bottom control plate based on digital signal processor (DSP), utilize the Matlab real time toolbox to build the real-time simulation environment, and developed the online display routine of aircraft in conjunction with the virtual display technique of Google Earth and FlightGear instrument.

As shown in Figure 1, a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems of the present invention comprise

1, four rotor unmanned aircrafts 1, the present invention selects wheelbase 450mm to strengthen X font frame, brshless DC motor, two blade propeller, high-velocity electrons speed regulator, flight control panel, Futaba telepilot, 2.4GHz receiver and the corresponding signal connecting line of nylon material, be assembled into four rotor unmanned aircraft bodies, can be have directly realized manual flight to four rotor unmanned aircrafts by the high-frequency communication of telepilot and receiver.As shown in Figure 2, four rotor unmanned aircrafts 1 of the present invention include model plane flight control panel 11, the receiver 12 that links to each other with model plane flight control panel 11 respectively, and electron speed regulator 14 and the brshless DC motor 15 that links to each other with electron speed regulator 14, wherein, the input end of described receiver 12 connects telepilot 13, output terminal connects the input end of the digital signal processor 41 in the airborne bottom control plate 4, described model plane flight control panel 11 connects the input end of the manual/auto switching chip 42 in the airborne bottom control plate 4, and electron speed regulator 14 connects the output terminal of the manual/auto switching chip 42 in the airborne bottom control plate 4.

Described four rotor unmanned aircrafts 1 are arranged on the globe joint with universal property on Three Degree Of Freedom aircraft turntable 2 tops, and a globe joint has been settled on the top of Three-degree of Freedom Rotational Platform, and this globe joint can be fastenedly connected by screw and four rotor unmanned aircrafts.Globe joint has " universal property ", and aircraft can freely rotate in the certain angle scope on the turntable, presents real 3 d pose and changes.

2, airborne attitude sensor 3, the geometric center place of described four rotor unmanned aircrafts 1 is provided with airborne attitude sensor 3, the present invention selects the miniature course of MTi attitude reference system as airborne attitude sensor, measure the attitude information of four rotor unmanned aircrafts, and it is placed in the geometric center place of aircraft.The light volume of this unit weight is low in energy consumption, exportable three-dimensional line acceleration, three dimensional angular speed and 3 d pose angle-data etc., and dynamic accuracy and static accuracy are higher, and maximum renewal frequency can reach 120Hz.

3, airborne bottom control plate 4 also is provided with the airborne bottom control plate 4 that links to each other and fly for control with electron speed regulator signal wire and the receiver signal line of this four rotor unmanned aircraft on described four rotor unmanned aircrafts 1.The digital signal processor (DSP) that airborne bottom control plate employing model is TI-TMS320F28335 is main control chip, be used for accepting and carrying out extraneous control command, thereby can generate fast pwm signal and send to the rotating speed control that electron speed regulator is realized motor, simultaneously, can feed back to the external world motor speed of aircraft.In addition, the bottom control plate also is used for switching the hand control and automation offline mode of aircraft.

Airborne attitude sensor 3 uses the power supply of 5V D.C. regulated power supply case, and four rotor unmanned aircrafts then pass through four electron speed regulators by the high-current switch Power supply.

4, emulation controller system 5, described airborne attitude sensor 3 be connected bottom control plate 4 and connect respectively emulation controller system 5, for real-time and the simple operation that takes into account emulation experiment, the present invention adopts " host computer---object computer " system.Described emulation controller system 5 includes: host computer 51 adopts ordinary PC, operation Simulink software, be used for creating realistic model, generate simulation code and control simulation process, object computer 53 is the PC/104 embedded computer, the operation real-time kernel, be used for carrying out simulation code, and with air environment (airborne attitude sensor 3 and airborne bottom control the plate 4 respectively data line by separately are connected on the dual serial port on the PC/104) and other terminal interactive information, and the object computer display 54 that is connected with object computer 53.

5, the online Display control computer 6 of virtual scene also is provided with the online Display control computer 6 of virtual scene that is used for showing virtual change in displacement that is connected with described emulation controller system 5.Four rotor unmanned aircrafts can only present three-dimensional attitude variation and not have space displacement to change on Three-degree of Freedom Rotational Platform, utilize the attitude information of four rotor unmanned aircrafts and the kinetic model of aircraft can calculate virtual change in displacement.6 of the online Display control computers of virtual scene are used for showing these virtual change in displacement.The present invention uses Google Earth and FlightGear instrument to develop respectively the client-side program of online demonstration, displacement data by udp protocol reception simulation objectives computer export in limitation net, thus a more comprehensively simulated flight information provided for the emulation personnel.The online Display control computer 6 of described virtual scene includes for the computing machine 61 that shows four rotor unmanned aircrafts, 1 flight condition, and the computing machine 62 that shows Google Earth.

The online Display control computer 6 of described host computer 51, object computer 53 and virtual scene forms LAN (Local Area Network) by router five 2 by router five 2, is the IP address of each terminal distribution inequality, and identical gateway is set.Move Simulink at host computer, utilize the Matlab real time toolbox for creating real-time kernel.

The present invention can adopt the various dynamic models of four rotor unmanned aircrafts in order to the generating virtual displacement, also can adopt various Flight Control Algorithms detecting controller's effect, and the below is take a kind of feedback linearization model and PD control algolithm as the example explanation.

The experimental technique of a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems of the present invention, according to artificial tasks, utilize module and control in the Matlab real time toolbox, at host computer operation Simulink software, for analogue system is built model framework chart, utilize module and control in the Matlab real time toolbox, comprise reading machine set sensor data subsystem, generation four rotor unmanned aircraft virtual displacement subsystems, Flight Control Algorithm subsystem and steering order in the designed model and transmit and this four sub-systems of virtual display interface subsystem.Specific as follows:

1, reading machine set sensor data subsystem, comprise be used to the attitude information and the angular velocity information that obtain the miniature course of Mti attitude reference system, receive and resolution data with the data acquisition module in the Matlab real time toolbox, through corresponding coordinate transform and metric transformation, thereby obtain three-dimensional Eulerian angle and first derivative values, simultaneously, these data are exported to other subsystems.

2, generate four rotor unmanned aircraft virtual displacement subsystems, comprise the kinetic model of setting up four rotor wing unmanned aerial vehicles, utilize the data of obtaining in the reading machine set sensor data subsystem, kinetic model by four rotor unmanned aircrafts, calculate the virtual three-dimensional linear acceleration of aircraft, and obtain respectively dummy line speed and virtual displacement by twice integral operation.

Rotary wind type flight needs 3 d pose and the common six-freedom degree information of three-dimensional position to describe its state in the space.

In order to set up the kinetic model of four rotor wing unmanned aerial vehicles, at first need to define two rectangular coordinate systems, be respectively NED inertial coordinates system I and body coordinate system B.The initial point of inertial coordinates system I is fixed on ground, and the initial point of body coordinate system B and unmanned plane barycenter overlap.{ e ₁e ₂e ₃And { x _by _bz _bRespectively denotation coordination be the vector of unit length on I and each axle positive dirction of B, and all meet the right-hand rule.By these two coordinate systems, the position of unmanned plane not only can be described, unmanned plane can also be described with respect to the attitude on ground simultaneously.Therefore, the position of four rotor wing unmanned aerial vehicles and the describing mode of attitude can be equivalent to the position and attitude describing mode of rigid body in the three dimensions.The six-freedom degree of four rotor wing unmanned aerial vehicles is respectively 3 Eulerian angle and 3 positions, and 3 Eulerian angle are respectively roll angle φ, pitching angle theta, crab angle ψ, and 3 positions are respectively x, y, z.Definition a=(φ, θ, ψ) is the Eulerian angle vector of unmanned plane body, and definition p=(x, y, z) is the position vector of inertial coordinates system I.

Be rigid objects with the unmanned aerial vehicle vision among the body coordinate system B, quality is

Moment of inertia is

When being subject to

External force and

Outside moment the time, obtain kinetic model according to the Newton-Euler theorem as follows

$\left\{\begin{array}{c}m\stackrel{\·}{V}+\mathrm{\Ω}\×\mathrm{mV}=F_{\mathrm{ext}}\\ J\stackrel{\·}{\mathrm{\Ω}}+\mathrm{\Ω}\×\mathrm{J\Ω}=\mathrm{\τ}\end{array}\right.---\left(1\right)$

Wherein,

Be the linear velocity of unmanned plane, be defined in the body coordinate system, Be the angular velocity of unmanned plane, be defined in the body coordinate system.

In inertial coordinates system, according to Newton mechanics law, first expression formula is separated gravity and other are stressed in the formula (1), and considers the transformational relation of body coordinate system B and inertial coordinates system I, can draw following expression:

$m\stackrel{\·\·}{p}=-\mathrm{RF}+{\mathrm{mge}}_3---\left(2\right)$

In above-mentioned equation, g represents acceleration of gravity, Under the expression body coordinate system, the vector of making a concerted effort of other power except gravity, R is the transition matrix that the body coordinate is tied to inertial coordinates system, and sin () and cos () are abbreviated as respectively s and c, its expression formula is as follows:

$R=\left[\begin{array}{ccc}\mathrm{c\θc\ψ}& \mathrm{s\φs\θc\ψ}-\mathrm{c\φs\ψ}& \mathrm{c\φs\θc\ψ}+\mathrm{s\φs\ψ}\\ \mathrm{c\θs\ψ}& \mathrm{s\φs\θs\ψ}+\mathrm{c\φc\ψ}& \mathrm{c\φs\θs\ψ}-\mathrm{s\φc\ψ}\\ -\mathrm{s\θ}& \mathrm{s\φc\θ}& \mathrm{c\φc\θ}\end{array}\right]---\left(3\right)$

The kinetic model expression formula of four rotor wing unmanned aerial vehicles can be reduced to following form:

$\left\{\begin{array}{c}m\stackrel{\&CenterDot;\&CenterDot;}{p}=-\mathrm{<figure-callout\; id="3"\; label="uR\; e"\; filenames="HDA00003436090500011.png"\; state="\{\{state\}\}">uR</figure-callout>}{e}_{}{}_3+\mathrm{mg}{e}_3\\ M\left(a\right)\stackrel{\&CenterDot;\&CenterDot;}{a}+C(a,\stackrel{\&CenterDot;}{a})\stackrel{\&CenterDot;}{a}=\mathrm{\&Psi;}{\left(a\right)}^T\mathrm{\&tau;}\end{array}\right.---\left(4\right)$

Wherein, Φ (a) is Euler's matrix, and its inverse matrix is Ψ (a)=Φ ^-1(a), M (a)=Ψ ^-1(a) ^TJ Ψ (a) is inertial matrix,

Be Coriolis force and centripetal force matrix, their expression formula is as follows:

$\mathrm{\&Phi;}\left(a\right)=\left[\begin{array}{ccc}1& \sin \mathrm{\&phi;}\tan \mathrm{\&theta;}& \cos \mathrm{\&phi;}\tan \mathrm{\&theta;}\\ 0& \cos \mathrm{\&phi;}& -\sin \mathrm{\&phi;}\\ 0& \sin \mathrm{\&phi;}\sec \mathrm{\&theta;}& \cos \mathrm{\&phi;}\sec \mathrm{\&theta;}\end{array}\right]---\left(5\right)$

$\mathrm{\&Psi;}\left(a\right)=\left[\begin{array}{ccc}1& 0& -\sin \mathrm{\&theta;}\\ 0& \cos \mathrm{\&phi;}& \sin \mathrm{\&phi;}\cos \mathrm{\&theta;}\\ 0& -\sin \mathrm{\&phi;}& \cos \mathrm{\&phi;}\cos \mathrm{\&theta;}\end{array}\right]---\left(6\right)$

Owe drive system owing to four rotor wing unmanned aerial vehicles are one, it is to come six-freedom degree is controlled the rotational speed omega of four motors=(ω by four control inputs ₁, ω ₂, ω ₃, ω ₄) ^TDirect control inputs, the total life u that four motors provide and by the poor moment [τ that obtains of motor speed _φτ _θτ _ψ] be the indirectly control input.Formula (7) has provided direct control inputs and indirectly control is inputted direct transformational relation.

$\left[\begin{array}{c}u\\ {\mathrm{\&tau;}}_{\mathrm{\&phi;}}\\ {\mathrm{\&tau;}}_{\mathrm{\&theta;}}\\ {\mathrm{\&tau;}}_{\mathrm{\&psi;}}\end{array}\right]=\left[\begin{array}{cccc}\mathrm{\&rho;}& \mathrm{\&rho;}& \mathrm{\&rho;}& \mathrm{\&rho;}\\ 0& -\mathrm{l\&rho;}& 0& \mathrm{l\&rho;}\\ \mathrm{l\&rho;}& 0& -\mathrm{l\&rho;}& 0\\ \mathrm{\&kappa;}& -\mathrm{\&kappa;}& \mathrm{\&kappa;}& -\mathrm{\&kappa;}\end{array}\right]\left[\begin{array}{c}{\mathrm{\&omega;}}_1^2\\ {\mathrm{\&omega;}}_2^2\\ {\mathrm{\&omega;}}_3^2\\ {\mathrm{\&omega;}}_4^2\end{array}\right]---\left(7\right)$

Wherein, l be the rotor of four rotor wing unmanned aerial vehicles to the distance of barycenter, ρ is the lift coefficient of four rotor wing unmanned aerial vehicle motors, κ is the moment coefficient of four rotor wing unmanned aerial vehicle motors.

Second expression formula to the four rotor wing unmanned aerial vehicle kinetic models simplified carried out feedback linearization, obtains:

$\mathrm{\&tau;}=\mathrm{J\&Psi;}\left(a\right)\widetilde{\mathrm{\&tau;}}+{\mathrm{\&Phi;}}^{T}C(a,\stackrel{\&CenterDot;}{a})\stackrel{\&CenterDot;}{a}---\left(9\right)$

Wherein, Be a new control inputs, so, the control inputs that further obtains system is Then, formula (8) is updated to formula (4), just obtains following expression formula after the expansion:

$\left\{\begin{array}{c}\stackrel{\&CenterDot;\&CenterDot;}{x}=\frac{-1}{m}u(\cos \mathrm{\&phi;}\sin \mathrm{\&theta;}\cos \mathrm{\&psi;}+\sin \mathrm{\&phi;}\sin \mathrm{\&psi;})\\ \stackrel{\&CenterDot;\&CenterDot;}{y}=\frac{-1}{m}u(\cos \mathrm{\&phi;}\sin \mathrm{\&theta;}\sin \mathrm{\&psi;}-\sin \mathrm{\&phi;}\cos \mathrm{\&psi;})\\ \stackrel{\&CenterDot;\&CenterDot;}{z}=\frac{-1}{m}u\cos \mathrm{\&phi;}\cos \mathrm{\&theta;}+g\\ \stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&phi;}}={\widetilde{\mathrm{\&tau;}}}_{\mathrm{\&phi;}}\\ \stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}={\widetilde{\mathrm{\&tau;}}}_{\mathrm{\&theta;}}\\ \stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&psi;}}={\widetilde{\mathrm{\&tau;}}}_{\mathrm{\&psi;}}\end{array}\right.---\left(9\right).$

3, described Flight Control Algorithm subsystem comprises two submodules of Flight Control Algorithm and flight path planning, uses respectively the S function module to write, and in flight path planning submodule, the emulation personnel are according to control task designed, designed flight path; Then in conjunction with current flight state, and aerial mission generates corresponding steering order by certain control algolithm in the Flight Control Algorithm submodule, and described flight state comprises real attitude information and virtual displacement information.

The structure of observation type (9) as can be known, the kinetic model of four rotor wing unmanned aerial vehicles can be decomposed into two sub-systems.What first three expression formula represented is the location subsystem with translation characteristic, for

What rear three expression formulas represented is the attitude subsystem with rotational characteristic, for

Obviously, location subsystem be coupled control inputs u and attitude information, and the attitude subsystem is just relatively independent.From the angle of control, the attitude subsystem can independently be controlled, and realizes that the control of location subsystem then need to be by the control of attitude subsystem.Obtain conclusion by the analytical model structure, can adopt the control structure of non-linear inner and outer ring in control, we are defined as location subsystem " outer shroud ", are the attitude subsystem definition " interior ring ", respectively the inner and outer ring subsystem are carried out the controller design.

Define respectively p _d, a _d,

Be desired locations, desired speed, expectation attitude angle and expectation angular velocity.So, just can use

Represent position and speed tracking error, use Represent attitude angle and angular velocity tracking error.The target of design control algolithm is exactly by the corresponding control inputs of design

So that asymptotic 0, four rotor wing unmanned aerial vehicle that levels off to of tracking error E and e has then been realized the purpose of track following.

Known from top analysis, the system model of formula (9) can be decomposed into two sub-systems, according to current control target, is translated into the form of tracking error, and is as follows:

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{E}=I_{1}E+I_2\stackrel{\&CenterDot;\&CenterDot;}{p}(a,u)-I_2{\stackrel{\&CenterDot;\&CenterDot;}{p}}_d\\ \stackrel{\&CenterDot;}{e}=I_{1}e+I_2(\widetilde{\mathrm{\&tau;}}-{\stackrel{\&CenterDot;\&CenterDot;}{a}}_d)\end{array}\right.---\left(10\right)$

Wherein,

Expression formula is as follows:

$I_1=\left[\begin{array}{cccccc}0& 0& 0& 1& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\\ 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0\end{array}\right],$ $I_2=\left[\begin{array}{ccc}0& 0& 0\\ 0& 0& 0\\ 0& 0& 0\\ 1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right]---\left(11\right)$

In first expression formula of formula (10), introduce a virtual controlling input quantity q=(q _z, q _y, q _z), then have:

Formula (12) has similar inner and outer ring coupling situation to motive power modular form (9).That is to say rotation error e and input torque

Ring tracking error system in independently controlling

The outer shroud tracking error E=f of system _E+ f _ΔThe information of the interior ring error that then has been coupled.Wherein, the introducing of virtual controlling input quantity q can be with coupling terms

Separate from the outer shroud error equation, like this, the outer shroud error system just is broken down into f significantly _E, f _ΔTwo parts.In the outer shroud error system, translational error E and virtual input quantity q are independently controlling f _E, f _ΔIt is the Non-linear coupling item that two sub-systems are coupled.

In the observation type (9)

The structure of expression formula can be defined as following form with virtual controlling input quantity q here:

$q=f_q(u,{\mathrm{\&phi;}}_d,{\mathrm{\&theta;}}_d,{\mathrm{\&psi;}}_d)=\frac{-1}{m}\mathrm{uR}({\mathrm{\&phi;}}_d,{\mathrm{\&theta;}}_d,{\mathrm{\&psi;}}_d){\mathrm{<figure-callout\; id="3"\; label="e"\; filenames="HDA00003436090500011.png"\; state="\{\{state\}\}">e</figure-callout>}}_3+g{e}_3---\left(13\right)$

Wherein, function

Can lead continuously.Formula (13) is unfolded as follows:

$\left\{\begin{array}{c}{q}_x=\frac{-1}{m}u(\cos {\mathrm{\&phi;}}_d\sin {\mathrm{\&theta;}}_d\cos {\mathrm{\&psi;}}_d+\sin {\mathrm{\&phi;}}_d\sin {\mathrm{\&psi;}}_d)\\ q_y=\frac{-1}{m}u(\cos {\mathrm{\&phi;}}_d\sin {\mathrm{\&theta;}}_d\sin {\mathrm{\&psi;}}_d-\sin {\mathrm{\&phi;}}_d\cos {\mathrm{\&psi;}}_d)\\ q_z=\frac{-1}{m}u\cos {\mathrm{\&phi;}}_d\cos {\mathrm{\&theta;}}_d+g\end{array}\right.---\left(14\right)$

Wherein, the outer ring controller by closed-loop system can calculate q, can calculate expectation attitude angle φ according to formula (14) _d, θ _dWith screw propeller gross thrust u, expression formula is as follows:

$\left\{\begin{array}{c}u=m\sqrt{q_x^2+{\mathrm{<figure-callout\; id="2"\; label="q\; y"\; filenames="HDA00003436090500011.png"\; state="\{\{state\}\}">q</figure-callout>}}_y^{}+{(g-q_z)}^2}\\ {\mathrm{\&phi;}}_d={\sin }^{-1}(-m\frac{q_x\sin {\mathrm{\&psi;}}_d-q_y\cos {\mathrm{\&psi;}}_d}{u})\\ {\mathrm{\&theta;}}_d={\tan }^{-1}(-\frac{q_x\cos {\mathrm{\&psi;}}_d+q_y\sin {\mathrm{\&psi;}}_d}{g-q_z})\end{array}\right.---\left(15\right)$

By outer shroud translation subsystem and the formula (14) of comparison expression (9), if will allow virtual controlling input quantity q (u, a _d) be tending towards

Only need to guarantee (the φ of (φ, θ, ψ) indifference ground tracing preset _d, θ _d, ψ _d) get final product.Corresponding, translational error E, rotation error e and Non-linear coupling item f _ΔThe capital levels off to 0.Like this, do not consider the impact of Non-linear coupling item, the kinetic model of four rotor wing unmanned aerial vehicles can be considered two linear subsystems of attitude and position, can be respectively their design PD controllers and realize finally controlling target, and design inner and outer ring PD controller is as follows:

$\left\{\begin{array}{c}q=-K_{E}E+{\stackrel{\&CenterDot;\&CenterDot;}{p}}_d\\ \widetilde{\mathrm{\&tau;}}=-K_{e}e+{\stackrel{\&CenterDot;\&CenterDot;}{a}}_d\end{array}\right.---\left(16\right)$

Wherein, matrix of coefficients K _E, K _eComprised respectively adjustable scale-up factor and the differential coefficient of inner and outer ring, specific as follows shown in:

$K_E=\left[\begin{array}{cccccc}{K}_{x\_\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">p</figure-callout>}}& 0& 0& K_{x\_\mathrm{<figure-callout\; id="0"\; label="d"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">d</figure-callout>}}& 0& 0\\ 0& K_{y\_\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">p</figure-callout>}}& 0& 0& K_{y\_\mathrm{<figure-callout\; id="0"\; label="d"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">d</figure-callout>}}& 0\\ 0& 0& K_{z\_\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">p</figure-callout>}}& 0& 0& K_{z\_d}\end{array}\right]$

$K_e=\left[\begin{array}{cccccc}{K}_{\mathrm{\&phi;}\_\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">p</figure-callout>}}& 0& 0& K_{\mathrm{\&phi;}\_\mathrm{<figure-callout\; id="0"\; label="d"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">d</figure-callout>}}& 0& 0\\ 0& K_{\mathrm{\&theta;}\_\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">p</figure-callout>}}& 0& 0& K_{\mathrm{\&theta;}\_\mathrm{<figure-callout\; id="0"\; label="d"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">d</figure-callout>}}& 0\\ 0& 0& K_{\mathrm{\&psi;}\_\mathrm{<figure-callout\; id="0"\; label="p"\; filenames="HDA00003436090500032.png"\; state="\{\{state\}\}">p</figure-callout>}}& 0& 0& K_{\mathrm{\&psi;}\_d}\end{array}\right]$

In the control inputs substitution formula (10) with formula (16), can obtain the closed-loop system kinetics equation of four rotor wing unmanned aerial vehicles, as follows:

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{E}=A_{E}E+\mathrm{\&Delta;}(E,e)\\ \stackrel{\&CenterDot;}{e}=A_{e}e\end{array}\right.---\left(17\right)$

Wherein, matrix A _E=I ₁-I ₂K _EAnd A _e=I ₁-I ₂K _eAll satisfy the Hull and tie up the hereby condition of matrix.Although there is disturbance term Δ (E, e) to exist in the location subsystem, it is globally asymptotically stable that closed-loop system remains.

4, steering order transmits and to comprise with virtual display interface subsystem steering order is sent by serial ports, and with real attitude information and the virtual displacement information exchange cross network and be sent to other terminals of LAN (Local Area Network).

The course of work of a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems of the present invention and experimental technique is as follows.

The semi-physical real-time simulation step is as follows:

1. open host computer, object computer, the online Display control computer of virtual scene.At host computer operation Simulink software, open the realistic model window; Confirm that the loaded real-time kernel of object computer is in ready state; Open Google Earth and FlightGear client on the online Display control computer of virtual scene.Network connection by each terminal of ping confirmation command is normal.

2. telepilot powers on, and with the throttle channel locking, throttle lever is pulled to extreme lower position, and hand/adaptive switched passage is allocated to manual gear.Transfer energising for electricity, the wait electricity is removed accelerator locking after transferring song ready, touches the state that throttle lever is tested four rotor unmanned aircrafts.After confirming that four rotor unmanned aircrafts are normal, throttle lever is pulled to extreme lower position, the locking throttle channel is allocated to automatic gear, preparing experiment with hand/automatic channel.

3. on host computer, realistic model compiling, link are generated executable code, and download to object computer.After object computer provides device ready information, carry out the " RUN " instruction at host computer, beginning emulation.This moment, four screw propellers of four rotor unmanned aircrafts can get up by High Rotation Speed, and according to controller algorithm four rotor unmanned aircrafts were maintained under the specific state.The object computer display can show the simulated flight data in real time, and the client-side program on the online Display control computer of virtual scene can the online displacement state that shows aircraft.

4. carry out " termination " instruction at host computer, finish simulated flight, screw propeller stops operating, and the object computer Stop message upgrades, and emulated data is being preserved in prompting.After preserving end, carry out " reading " instruction at host computer, emulated data is extracted on the host computer used for off-line analysis research.

5. disconnect electricity and transfer power supply to connect, close telepilot.Emulation finishes.

Experimental result is as follows:

Use the PD control algolithm to carry out respectively the calm flight of attitude and deformation trace tracking flight experiment, wherein, roll angle (Roll) and the angle of pitch (Pitch) are set as 0 degree in the calm experiment of attitude, and crab angle (Yaw) is set as 80 degree; Deformation trace is set as the circle of 10 meters of diameters.

Fig. 3 a, Fig. 3 b, Fig. 3 c have shown roll angle, the angle of pitch and the crab angle that sensor records in the calm flight experiment of attitude, and Fig. 4 has shown the change curve of virtual displacement in the deformation trace tracking flight experiment.Can therefrom find out, control algolithm has all obtained good control effect in the tracking test of the calm and track of attitude.

Claims (9)

1. rotor unmanned aircraft hardware-in-the-loop simulation experimental system, comprise four rotor unmanned aircrafts (1), it is characterized in that, described four rotor unmanned aircrafts (1) are arranged on the globe joint with universal property on Three Degree Of Freedom aircraft turntable (2) top, the geometric center place of described four rotor unmanned aircrafts (1) is provided with airborne attitude sensor (3), described four rotor unmanned aircrafts (1) include the airborne bottom control plate (4) for control flight, described airborne attitude sensor (3) be connected bottom control plate (4) and connect respectively emulation controller system (5), described emulation controller system (5) is used for creating realistic model, generate simulation code and control simulation process and with airborne attitude sensor (3) and airborne bottom control plate (4) interactive information, also be provided be connected with described emulation controller system (5) for the online Display control computer of virtual scene (6) that shows virtual change in displacement.

2. a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 1, it is characterized in that, described four rotor unmanned aircrafts (1) include model plane flight control panel (11), the receiver (12) that links to each other with model plane flight control panels (11) respectively, and electron speed regulator (14) and the brshless DC motor (15) that links to each other with electron speed regulator (14), wherein, the input end of described receiver (12) connects telepilot (13), output terminal connects the input end of the digital signal processor (41) in the airborne bottom control plate (4), described model plane flight control panels (11) connect the input end of the manual/auto switching chip (42) in the airborne bottom control plate (4), and electron speed regulator (14) connects the output terminal of the manual/auto switching chip (42) in the airborne bottom control plate (4).

3. a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 1, it is characterized in that, described emulation controller system (5) includes for creating realistic model, generate the host computer (51) of simulation code and control simulation process, be used for carrying out simulation code, and with the target machine (53) of airborne attitude sensor (3) and airborne bottom control plate (4) interactive information, and the target machine display (54) that is connected with target machine (53), described host computer (51) and target machine (53) form LAN (Local Area Network) by router (52).

4. a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 1, it is characterized in that, the online Display control computer of described virtual scene (6) includes for the computing machine (61) that shows four rotor unmanned aircrafts (1) flight condition, and the computing machine (62) that shows Google Earth, the online Display control computer of described virtual scene (6) by the host computer (51) in router (52) and the described emulation controller system (5) and target machine (53) altogether in same LAN (Local Area Network).

5. the experimental technique of each described a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems of claim 1～4, it is characterized in that, according to artificial tasks, utilize module and control in the Matlab real time toolbox, at host operation Simulink software, for analogue system is built model framework chart, comprise reading machine set sensor data subsystem, generation four rotor unmanned aircraft virtual displacement subsystems, Flight Control Algorithm subsystem and steering order in the designed model and transmit and this four sub-systems of virtual display interface subsystem.

6. the experimental technique of a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 5, it is characterized in that, described reading machine set sensor data subsystem, comprise be used to the attitude information and the angular velocity information that obtain the miniature course of Mti attitude reference system, receive and resolution data with the data acquisition module in the Matlab real time toolbox, through corresponding coordinate transform and metric transformation, thereby obtain three-dimensional Eulerian angle and first derivative values, simultaneously, these data are exported to other subsystems.

7. the experimental technique of a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 5, it is characterized in that, described generation four rotor unmanned aircraft virtual displacement subsystems, comprise the kinetic model of setting up four rotor wing unmanned aerial vehicles, utilize the data of obtaining in the reading machine set sensor data subsystem, kinetic model by four rotor unmanned aircrafts, calculate the virtual three-dimensional linear acceleration of aircraft, and obtain respectively dummy line speed and virtual displacement by twice integral operation.

8. the experimental technique of a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 5, it is characterized in that, described Flight Control Algorithm subsystem, comprise two submodules of Flight Control Algorithm and flight path planning, use respectively the S function module to write, in flight path planning submodule, the emulation personnel are according to control task designed, designed flight path; Then in conjunction with current flight state, and aerial mission generates corresponding steering order by the control algolithm of setting in the Flight Control Algorithm submodule, and described flight state comprises real attitude information and virtual displacement information.

9. the experimental technique of a kind of four rotor unmanned aircraft hardware-in-the-loop simulation experimental systems according to claim 5, it is characterized in that, described steering order transmits and comprises with virtual display interface subsystem steering order is sent by serial ports, and with real attitude information and the virtual displacement information exchange cross network and be sent to other terminals of LAN (Local Area Network).

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