CN110806701A - Unmanned helicopter control system simulation platform - Google Patents
Unmanned helicopter control system simulation platform Download PDFInfo
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- CN110806701A CN110806701A CN201911163462.4A CN201911163462A CN110806701A CN 110806701 A CN110806701 A CN 110806701A CN 201911163462 A CN201911163462 A CN 201911163462A CN 110806701 A CN110806701 A CN 110806701A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a simulation platform of an unmanned helicopter control system, which comprises a simulation operation host, and a flight control ground station and a model simulation ground station which are connected with the simulation operation host to realize data transmission; the simulation operation host is provided with a simulation model system and a flight control system; the simulation model system comprises a servo steering engine model and a sensor model; the servo steering engine model is used for receiving steering engine operation instructions generated by a flight control system and converting the steering engine operation instructions into a process of controlling a rotor wing through mechanical motion; the sensor model is used for providing sensor pseudo data for a flight control system; and the flight control system is used for receiving sensor pseudo data from the simulation model system and calculating to obtain a steering engine control instruction. The simulation model system and the flight control system form closed-loop control, and the simulation model system can verify the feasibility and stability of the flight control system in time so as to improve the safety of the flight control system.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a simulation platform of an unmanned helicopter control system.
Background
Compared with a four-rotor wing, the control of the unmanned helicopter is much more complex, so that a flight test still has great uncertainty and danger when autonomous flight is researched, in order to ensure flight safety, shorten a development period and reduce development cost, after the construction of a flight control system is completed, firstly, the completed control system needs to be simulated to check the feasibility of a design scheme of the control system, and the reliability and the stability of an algorithm of the control system are verified. Therefore, it is necessary to establish a reliable simulation platform capable of reflecting the dynamic characteristics of the unmanned helicopter.
Disclosure of Invention
The invention aims to provide a simulation platform of an unmanned helicopter control system, which aims to solve the problems in the background technology.
The above object of the present invention is achieved by the following technical solutions:
a simulation platform of an unmanned helicopter control system comprises a simulation operation host, and a flight control ground station and a model simulation ground station which are connected with the simulation operation host to realize data transmission; the simulation operation host is provided with a simulation model system and a flight control system;
the simulation model system comprises a servo steering engine model and a sensor model;
the servo steering engine model is used for receiving steering engine operation instructions generated by a flight control system and converting the steering engine operation instructions into a process of controlling a rotor wing through mechanical motion;
the sensor model is used for providing sensor pseudo data for a flight control system;
the flight control system is used for receiving sensor pseudo data from the simulation model system and calculating to obtain a steering engine control instruction;
the flight control ground station is connected with the flight control system, the flight control ground station is used for modifying flight control parameters and planning air routes and uploading the flight control parameters and the planning air routes to the flight control system, and the flight control system is used for transmitting flight state information to the flight control ground station in real time to monitor the flight state;
the model simulation ground station is connected with the simulation model system, the model simulation ground station is used for controlling the starting/ending of the simulation model and initializing the state of the simulation model, and the simulation model system is used for transmitting the motion state parameters of the simulation model to the model simulation ground station in real time to monitor the change and the rule of the model simulation ground station.
Preferably, the sensor model comprises an accelerometer, a gyroscope, a magnetic sensor and a GPS module.
Preferably, the flight control system is provided with a data memory for storing flight data.
Preferably, the flight control ground station and the flight control system, and the model simulation ground station and the simulation model system are in data connection through a USB serial port.
Preferably, the plurality of model simulation ground stations are used for analyzing the data consistency of different model simulation ground stations so as to verify whether the communication between the flight control system and the simulation model system is normal.
Preferably, the simulation model system further comprises a helicopter model, a gust model and an elliptical earth model; the helicopter model comprises a main rotor model, a tail rotor model, an aerodynamic model and a six-degree-of-freedom helicopter rigid body model; the gust model is used for simulating the condition of gust disturbance in the natural environment; the elliptical earth model is used for converting the longitude, latitude and height coordinates of the GPS into plane coordinates of the earth.
Compared with the prior art, the invention provides a simulation platform of an unmanned helicopter control system, which has the following beneficial effects: the simulation model system and the flight control system form closed-loop control, and the simulation model system can verify the feasibility and stability of the flight control system in time so as to improve the safety of the flight control system.
Drawings
FIG. 1 is a schematic diagram of a simulation platform provided by an embodiment;
FIG. 2 is a diagram of a flight control system and a simulation model system according to an embodiment;
fig. 3 is a structural diagram of a simulation model system according to an embodiment.
In the figure: 10. simulating to operate the host; 11. a flight control system; 12. a simulation model system; 121. a servo steering engine model; 122. a helicopter model; 123. a gust model; 124. a sensor model; 20. a flight control ground station; 30. the model simulates a ground station.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): referring to fig. 1-3, the present invention provides a technical solution: a simulation platform of an unmanned helicopter control system comprises a simulation operation host 10, and a flight control ground station 20 and a model simulation ground station 30 which are connected with the simulation operation host 10 through serial ports to realize data transmission; the emulation operating host 10 is a computer platform provided with a Linux system, and the core module of the computer platform is an SCM 9602. The simulation operation host 10 is provided with a simulation model system 12 and a flight control system 11; the flight control system 11 is developed based on a Qt graphical interface application program development framework; the simulation model system 12 is developed based on LABVIEW graphical interface application program;
the simulation model system 12 includes, but is not limited to, a servo steering engine model 121, a helicopter model 122, a gust model 123, an elliptical earth model, and a sensor model 124; wherein the helicopter model 122 includes, but is not limited to, a main rotor model, a tail rotor model, an aerodynamic model, and a six-degree-of-freedom helicopter rigid body model; the gust model 123 is used for simulating the condition of gust disturbance in the natural environment; the elliptical earth model is used for converting the longitude and latitude and the height coordinate of the GPS into an earth plane coordinate; sensor model 124 includes, but is not limited to, an accelerometer, a gyroscope, a magnetic sensor, and a GPS module.
The flight control system 11 receives the sensor model 124 pseudo data from the simulation model system 12, obtains a steering engine control instruction through the operation of the control algorithm, and sends the steering engine control instruction to the simulation model system 12.
The flight control system 11 is connected with the flight control ground station 20 through a USB serial port, flight control parameters and a planned route can be modified through the flight control ground station 20 and then uploaded to the flight control system 11, and meanwhile, the flight control system 11 transmits flight state information to the flight control ground station 20 in real time for monitoring the flight state of experimenters.
The flight control system 11 is also internally provided with a data memory, the data memory can be a TF card, and the expected flight data of the unmanned helicopter can be stored according to the requirement to analyze the effect of one flight.
The simulation model system 12 and the simulation model ground station are also connected through a USB serial port, the start/end of the simulation model can be controlled through the model simulation ground station 30, the state of the simulation model is initialized, the change rule of the motion state parameters of the simulation model is monitored, and meanwhile, whether the communication between the flight control system 11 and the simulation model system 12 is normal can be verified through the comparison of the display data of the two ground stations.
Referring to fig. 2 and 3, the Linux system-based simulation operation host 10 is a core of the simulation platform, wherein the flight control system 11 receives the pseudo data from the sensor models 124 such as the accelerometer, the gyroscope, the magnetosensor, the GPS module, and the like in the simulation model system 12, calculates the control instruction of each servo steering engine through the control algorithm, and sends the control instruction to the simulation model system 12, so as to finally achieve the purpose of controlling the helicopter to stably fly. A servo steering engine model 121 in the simulation model system 12 receives a steering engine operation instruction generated by the flight control system 11 and converts the steering engine operation instruction into a process of controlling a rotor wing through mechanical motion; the dummy data from the sensor model 124 is finally sent to the flight control system 11 in the form of real sensor data.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An unmanned helicopter control system simulation platform is characterized by comprising a simulation operation host (10), and a flight control ground station (20) and a model simulation ground station (30) which are connected with the simulation operation host (10) to realize data transmission; the simulation operation host (10) is provided with a simulation model system (12) and a flight control system (11);
the simulation model system (12) comprises a servo steering engine model (121) and a sensor model (124);
the servo steering engine model (121) is used for receiving steering engine operation instructions generated by the flight control system (11) and converting the steering engine operation instructions into a process of controlling the rotor wing through mechanical movement;
the sensor model (124) is used for providing sensor pseudo data for a flight control system (11);
the flight control system (11) is used for receiving sensor pseudo data from the simulation model system (12) and calculating to obtain a steering engine control instruction;
the flight control ground station (20) is connected with the flight control system (11), the flight control ground station (20) is used for modifying flight control parameters and planning air routes and uploading the flight control parameters and the planning air routes to the flight control system (11), and the flight control system (11) is used for transmitting flight state information to the flight control ground station (20) in real time to monitor the flight state;
the model simulation ground station (30) is connected with the simulation model system (12), the model simulation ground station (30) is used for controlling the starting/ending of the simulation model and initializing the state of the simulation model, and the simulation model system (12) is used for transmitting the motion state parameters of the simulation model to the model simulation ground station (30) in real time to monitor the change and the rule of the motion state parameters.
2. The unmanned helicopter control system simulation platform of claim 1, wherein the sensor model (124) includes an accelerometer, a gyroscope, a magnetic sensor, and a GPS module.
3. The unmanned helicopter control system simulation platform of claim 1, characterized in that the flight control system (11) has built in a data memory for storing flight data.
4. The unmanned helicopter control system simulation platform of claim 1, wherein the flight control ground station (20) and the flight control system (11), and the model simulation ground station (30) and the simulation model system (12) are in data connection via USB serial ports.
5. The unmanned helicopter control system simulation platform of claim 1, wherein the plurality of model simulation ground stations (30) are configured to analyze the consistency of data from different model simulation ground stations (30) to verify that the flight control system (11) and the simulation model system (12) are communicating properly.
6. The unmanned helicopter control system simulation platform of claim 1, wherein the simulation model system (12) further comprises a helicopter model (122), a gust model (123), and an elliptical earth model; the helicopter model (122) comprises a main rotor model, a tail rotor model, an aerodynamic model and a six-degree-of-freedom helicopter rigid body model; the gust model (123) is used for simulating the gust disturbance condition in the natural environment; the elliptical earth model is used for converting the longitude, latitude and height coordinates of the GPS into plane coordinates of the earth.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911163462.4A CN110806701A (en) | 2019-11-25 | 2019-11-25 | Unmanned helicopter control system simulation platform |
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| CN201911163462.4A CN110806701A (en) | 2019-11-25 | 2019-11-25 | Unmanned helicopter control system simulation platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268168A (en) * | 2020-02-24 | 2020-06-12 | 深圳联合飞机科技有限公司 | Test system for helicopter rotor flight mechanics modeling |
| CN111563324A (en) * | 2020-04-28 | 2020-08-21 | 上海科梁信息工程股份有限公司 | Flight control system simulation method, flight control system simulation platform, flight control system simulation server and storage medium |
| CN112034737A (en) * | 2020-09-07 | 2020-12-04 | 中国航空工业集团公司成都飞机设计研究所 | Simulation control system and control method for unmanned aerial vehicle multi-machine simulation training |
| CN114373359A (en) * | 2021-12-10 | 2022-04-19 | 厦门提坦航电科技有限公司 | Aircraft cockpit control method and device and readable medium |
-
2019
- 2019-11-25 CN CN201911163462.4A patent/CN110806701A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268168A (en) * | 2020-02-24 | 2020-06-12 | 深圳联合飞机科技有限公司 | Test system for helicopter rotor flight mechanics modeling |
| CN111563324A (en) * | 2020-04-28 | 2020-08-21 | 上海科梁信息工程股份有限公司 | Flight control system simulation method, flight control system simulation platform, flight control system simulation server and storage medium |
| CN112034737A (en) * | 2020-09-07 | 2020-12-04 | 中国航空工业集团公司成都飞机设计研究所 | Simulation control system and control method for unmanned aerial vehicle multi-machine simulation training |
| CN114373359A (en) * | 2021-12-10 | 2022-04-19 | 厦门提坦航电科技有限公司 | Aircraft cockpit control method and device and readable medium |
| CN114373359B (en) * | 2021-12-10 | 2024-04-30 | 厦门提坦航电科技有限公司 | Method and device for controlling aircraft cockpit and readable medium |
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Application publication date: 20200218 |