CN112965396A - Hardware-in-the-loop visualization simulation method for quad-rotor unmanned aerial vehicle - Google Patents
Hardware-in-the-loop visualization simulation method for quad-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
A hardware-in-the-loop visualization simulation method for a quad-rotor unmanned aerial vehicle belongs to the technical field of quad-rotors, and comprises an unmanned aerial vehicle digital twin model, a target controller model and a three-dimensional visual simulation system, wherein the unmanned aerial vehicle digital twin model is used for modeling; analyzing the stress conditions, the dynamic characteristics and the performance indexes of the quad-rotor unmanned aerial vehicle during takeoff, cruise, hovering and landing, and establishing a dynamic equation and a kinematic equation; a complex system modeling method is adopted, and the digitalized mapping of all physical entity elements of the product constructed in the Simulink environment is constructed according to the dynamics characteristics of the quad-rotor unmanned aerial vehicle. Communicating via S-fusion of the Mallink protocol; three-dimensionally remolding the unmanned aerial vehicle by using a curved surface modeling in the three-dimensional visual simulation system; the digital twin model of the quad-rotor unmanned aerial vehicle can well follow the attitude control instruction of the remote controller, the in-loop visual simulation attitude of hardware is consistent with the change of the attitude curve, and is highly consistent with the flight path of the actual attitude, so that a platform foundation is laid for the optimization design of a later control algorithm.
Description
Technical Field
The invention belongs to the technical field of quadrotors, and particularly relates to a hardware-in-the-loop visual simulation method for a quadrotor unmanned aerial vehicle.
Background
The four-rotor unmanned aerial vehicle has a wide application prospect in the military field and the civil field due to the advantages of small volume, light weight, good concealment, simple structure, low cost and the like, the aircraft is required to be comprehensively tested for performance and quality in the research and development process of the unmanned aerial vehicle, a large amount of manpower and financial resources are consumed, in order to shorten the research and development period and reduce the cost, the simulation of a control algorithm before the actual test flight of the unmanned aerial vehicle plays a crucial role in testing the performance of the unmanned aerial vehicle, the current simulation verification method mainly comprises digital simulation and semi-physical simulation, the semi-physical simulation introduces part of a system into a simulation loop in a real object manner, the actual flight condition is simulated as truly as possible, the reliability of a flight control system can be effectively verified compared with the digital simulation, and especially the application in the initial test flight parameter adjustment and the later.
Disclosure of Invention
In order to solve the problem of accurate performance of the unmanned aerial vehicle, the invention provides: a hardware-in-the-loop visualization simulation method for a quad-rotor unmanned aerial vehicle comprises the following technical scheme: the system comprises an unmanned aerial vehicle digital twin model, a target controller model and a three-dimensional visual simulation system, wherein coordinate systems used for modeling are a machine body coordinate system and a terrestrial coordinate system, and the method comprises the following steps:
s1, modeling by using an unmanned aerial vehicle digital twin model;
s2, communicating through S-fusion of the Mavlik protocol;
s3, three-dimensionally reshaping the unmanned aerial vehicle by using the surface modeling in the three-dimensional visual simulation system;
wherein, step S1 includes: analyzing the stress conditions, the dynamic characteristics and the performance indexes of the quad-rotor unmanned aerial vehicle during takeoff, cruise, hovering and landing, and establishing a dynamic equation and a kinematic equation; adopting a complex system modeling method, digitally mapping all physical entities of a product constructed in a Simulink environment, and constructing according to the dynamic characteristics of a quad-rotor unmanned aerial vehicle;
the target controller model adopts a cascade control structure, the outer ring adopts proportion P control, and the inner ring adopts PID regulation.
Further, step S2 includes:
s21, a function for analyzing and packaging the Malink is integrated in a robot System Toolbox UAV Library Toolbox, wherein the deserializemmsg function analyzes the Malink packet from the buffer area; packing the serilizeimsg function into a mallink packet, and sending the mallink packet to PX4 through a com port;
s22, writing a Mavlikserial _ Receive function and a Mavlikserial _ Send function, and realizing the communication between Pixhawk and Simulink;
the S23 is that the MallinkSerial _ Receive module is responsible for receiving a PWM control signal which is PX4 and sent to the digital twin model, and the MallinkSerial _ Send module is responsible for sending attitude data of the digital twin model to the target controller.
Further, step S3 includes:
s31, constructing a four-rotor propeller, a motor and a horn three-dimensional model by using CATIA software according to an object-oriented design method;
s32, assembling the designed accessory model according to the actual size and the geometric position relation, and reproducing the appearance shape of the quad-rotor unmanned aerial vehicle;
and S33, converting the assembled accessory model into an STL format, importing the STL format into AC3D for reassembly and naming, and importing the STL format into FlightGear for three-dimensional visual simulation.
Further, the unmanned aerial vehicle digital twin model includes a rigid body motion dynamic model, a rotor wing dynamic model and an actuator model, the rigid body motion dynamic model includes a kinematic model and a dynamic model, and step S11 includes: the rigid motion dynamic is described by a quaternion model, and the rigid dynamic characteristics can be described as follows:
the rigid body kinematics can be described as:
wherein e represents a terrestrial coordinate system, b represents a body coordinate system,bomega is the angular velocity of the body, GaIs gyro moment, tau is the moment produced by propeller on the body axis, J is moment of inertia,
to represent the position vector in an inertial frame, m represents the quad-rotor mass, g represents gravity plusSpeed, feRepresents a tensile force, I3Represents a unit vector, e3Represents the vector along the ze axis, b3Representing a vector along the zb axis,
is a scalar part of the quaternion,
is the vector portion of the quaternion,ev is the derivative acceleration.
Further, among four rotor unmanned aerial vehicle's the kinetic model, four rotor unmanned aerial vehicle's pulling force and moment are produced through four screws, and the pulling force produces the acceleration of three direction, and moment produces the ascending rotary momentum in three direction, the pulling force sum that four motors producedbFTComprises the following steps:
torque generated by four motorsbT is:
wherein, cTIs a single-paddle coefficient of tension, cMIs the coefficient of the moment of force,
for the propeller angular velocity, L ═ L sin (pi/4), and L is the length of the horn.
Further, the unmanned aerial vehicle actuator model of four rotors comprises electricity accent and brushless motor, provides power for the screw, and the input is the PWM signal that comes from the target control ware, and the output is motor speed
Given a PWM signal, the actual motor requires a time delay TmCan be usedReach steady state rotation speed
The first-order inertia links are:
the delay performance is described by the above equation, where TmObtained through experiments.
Further, step S3 includes the following: according to an object-oriented design method, CATIA software is used for constructing a four-rotor propeller, a motor and a horn three-dimensional model, a curved surface modeling is used for establishing the four-rotor propeller three-dimensional model, each accessory of the unmanned aerial vehicle is modeled, the designed accessory models are assembled according to the actual size and geometric position relation, the appearance shape of the four-rotor unmanned aerial vehicle is reproduced, the unmanned aerial vehicle three-dimensional model is loaded into flight gear for three-dimensional visualization, the assembled model is converted into an STL format and is led into AC3D for reassembly, naming and previewing, a main view, a side view, a top view and a three-dimensional view are obtained, an Xml extensible markup language file is compiled by using NASAL language for configuring the unmanned aerial vehicle, wherein a Quadrotor-Xml file is compiled for specifying information such as airplane model, scene, runway and the like, a quadrotor.xml file is compiled for adjusting the position and posture of the aircraft, a Matlab/Aerosepack library provides an interface module related to flight gear, in Simulink, setting an airplane model, an airport, a runway, a simulation address and a target ip by utilizing a Generator Run Script, and generating a bat file to open a corresponding FlightGear interface; packaging the position and posture information by using a Pack net _ fdm Packet for flight Gear module, and sending the Pack net _ fdm Packet to flight Gear module to the flight Gear by using a Native-fdm data protocol for visual display.
The invention has the beneficial effects that:
the modeling method based on the digital twin technology effectively avoids the problem of complicated mathematical modeling at the bottom layer. The communication problem between the autopilot and the Simulink is effectively solved based on the MavlinkSerial _ Receive and the MavlinkSerial _ Send functions written by the Robotics System Toolbox UAV Library. In the CATIA environment, a three-dimensional model of the quadrotor is constructed based on a method of a surface modeling technology, and the quadrotor unmanned aerial vehicle is truly reproduced. Experimental results show that the digital twin model of the quad-rotor unmanned aerial vehicle can well follow the attitude control instruction of the remote controller, the variation of the in-loop visual simulation attitude of hardware is consistent with the variation of the attitude curve, the in-loop visual simulation attitude of hardware is highly consistent with the flight path of the actual attitude, and a platform foundation is laid for the optimization design of a later-stage control algorithm.
Drawings
FIG. 1 is a system architecture for four-rotor hardware-in-the-loop simulation;
FIG. 2 is a digital twinning model;
FIG. 3 is a four-rotor motion dynamic model;
FIG. 4 is a propeller pull model;
FIG. 5 is a propeller moment model;
FIG. 6 is a block diagram of an actuator;
FIG. 7 is an actuator Simulink model;
FIG. 8 is a target cascade control system;
FIG. 9 is a model of a target controller;
FIG. 10 is a hardware-in-the-loop simulation experiment communication test platform;
FIG. 11 is a plot of actual and desired attitude angles in flight.
Detailed Description
An embodiment is a hardware-in-the-loop visualization simulation method for a quad-rotor unmanned aerial vehicle, as shown in fig. 1, which includes three parts, namely an unmanned aerial vehicle digital twin model, a target controller model and a three-dimensional visual simulation system, and coordinate systems used for modeling are a body coordinate system and a terrestrial coordinate system, and the method includes the following steps:
s1, modeling by using an unmanned aerial vehicle digital twin model;
s2, communicating through S-fusion of the Mavlik protocol;
s3, three-dimensionally reshaping the unmanned aerial vehicle by using the surface modeling in the three-dimensional visual simulation system;
wherein, step S1 includes: analyzing the stress conditions, the dynamic characteristics and the performance indexes of the quad-rotor unmanned aerial vehicle during takeoff, cruise, hovering and landing, and establishing a dynamic equation and a kinematic equation; adopting a complex system modeling method, digitally mapping all physical entities of a product constructed in a Simulink environment, and constructing according to the dynamic characteristics of a quad-rotor unmanned aerial vehicle;
as shown in fig. 8-9, the target controller model adopts a cascade control structure, as shown in fig. 8(a), the outer loop adopts proportional P control, as shown in fig. 8(b), and the inner loop uses PID regulation.
As shown in fig. 2, the digital twin model of the unmanned aerial vehicle includes a rigid body motion dynamic model, a rotor wing dynamic model and an actuator model, the rigid body motion dynamic model includes a kinematic model and a dynamic model, and step S11 includes: the rigid motion dynamic is described by a quaternion model, and the rigid dynamic characteristics can be described as follows:
the rigid body kinematics can be described as:
wherein e represents a terrestrial coordinate system, b represents a body coordinate system,bomega is the angular velocity of the body, GaIs gyro moment, tau is the moment produced by propeller on the body axis, J is moment of inertia,
to represent the position vector in an inertial frame, m represents the quad-rotor mass, g represents the gravitational acceleration, feRepresents a tensile force, I3Represents a unit vector, e3Represents the vector along the ze axis, b3Representing a vector along the zb axis,
scalar part being a quaternionThe method comprises the following steps of dividing,
is the vector portion of the quaternion,ev is the derivative acceleration.
According to the rigid body dynamic characteristic expression and the rigid body kinematics characteristic expression, a CustomVariable Mass6DOF (Quaternion) module in Aerospace Block set is used for constructing a four-rotor rigid body kinematics dynamic model, as shown in FIG. 3.
Wherein, among four rotor unmanned aerial vehicle's the kinetic model, four rotor unmanned aerial vehicle's pulling force and moment are produced through four screws, and the pulling force produces the acceleration of three direction, and moment produces the ascending rotary momentum in three direction, the pulling force sum that four motors producedbFTComprises the following steps:
torque generated by four motorsbT is:
wherein, cTIs a single-paddle coefficient of tension, cMIs the coefficient of the moment of force,
for the propeller angular velocity, L ═ L sin (pi/4), and L is the length of the horn. The rotor dynamic model is shown in fig. 4-5.
Wherein, as shown in fig. 6, the unmanned aerial vehicle actuator model of four rotors comprises an electric regulator and a brushless motor, and provides power for the propeller, the input is a PWM signal from a target controller, and the output is a motor rotating speed
Given a PWM signal, the actual motor requires a time delay TmCan reach the steady state rotation speed
The first-order inertia links are:
the delay performance is described by the above equation, where TmExperimentally obtained, the actuator model is shown in fig. 7.
Wherein, step S2 includes: as shown in figure 10 of the drawings,
s21, a function for analyzing and packaging the Malink is integrated in a robot System Toolbox UAV Library Toolbox, wherein the deserializemmsg function analyzes the Malink packet from the buffer area; packing the serilizeimsg function into a mallink packet, and sending the mallink packet to PX4 through a com port;
s22, writing a Mavlikserial _ Receive function and a Mavlikserial _ Send function, and realizing the communication between Pixhawk and Simulink;
the S23 is that the MallinkSerial _ Receive module is responsible for receiving a PWM control signal which is PX4 and sent to the digital twin model, and the MallinkSerial _ Send module is responsible for sending attitude data of the digital twin model to the target controller.
Wherein, step S3 includes: as shown in figure 11 of the drawings,
s31, constructing a four-rotor propeller, a motor and a horn three-dimensional model by using CATIA software according to an object-oriented design method;
s32, assembling the designed accessory model according to the actual size and the geometric position relation, and reproducing the appearance shape of the quad-rotor unmanned aerial vehicle;
and S33, converting the assembled accessory model into an STL format, importing the STL format into AC3D for reassembly and naming, and importing the STL format into FlightGear for three-dimensional visual simulation.
Step S3 includes the following steps: according to an object-oriented design method, CATIA software is used for constructing a four-rotor propeller, a motor and a horn three-dimensional model, a curved surface modeling is used for establishing the four-rotor propeller three-dimensional model, each accessory of the unmanned aerial vehicle is modeled, the designed accessory models are assembled according to the actual size and geometric position relation, the appearance shape of the four-rotor unmanned aerial vehicle is reproduced, the unmanned aerial vehicle three-dimensional model is loaded into flight gear for three-dimensional visualization, the assembled model is converted into an STL format and is led into AC3D for reassembly, naming and previewing, a main view, a side view, a top view and a three-dimensional view are obtained, an Xml extensible markup language file is compiled by using NASAL language for configuring the unmanned aerial vehicle, wherein a Quadrotor-Xml file is compiled for specifying information such as airplane model, scene, runway and the like, a quadrotor.xml file is compiled for adjusting the position and posture of the aircraft, a Matlab/Aerosepack library provides an interface module related to flight gear, in Simulink, setting an airplane model, an airport, a runway, a simulation address and a target ip by utilizing a Generator Run Script, and generating a bat file to open a corresponding FlightGear interface; packaging the position and posture information by using a Pack net _ fdm Packet for flight Gear module, and sending the Pack net _ fdm Packet to flight Gear module to the flight Gear by using a Native-fdm data protocol for visual display.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and their concepts should be equivalent or changed within the technical scope of the present invention.
Claims (7)
1. The hardware-in-the-loop visualization simulation method for the quad-rotor unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle digital twin model, a target controller model and a three-dimensional visual simulation system, wherein coordinate systems used for modeling are a body coordinate system and a terrestrial coordinate system, and the hardware-in-the-loop visualization simulation method comprises the following steps:
s1, modeling by using an unmanned aerial vehicle digital twin model;
s2, communicating through S-fusion of the Mavlik protocol;
s3, three-dimensionally reshaping the unmanned aerial vehicle by using the surface modeling in the three-dimensional visual simulation system;
wherein, step S1 includes: analyzing the stress conditions, the dynamic characteristics and the performance indexes of the quad-rotor unmanned aerial vehicle during takeoff, cruise, hovering and landing, and establishing a dynamic equation and a kinematic equation; adopting a complex system modeling method, digitally mapping all physical entities of a product constructed in a Simulink environment, and constructing according to the dynamic characteristics of a quad-rotor unmanned aerial vehicle;
the target controller model adopts a cascade control structure, the outer ring adopts proportion P control, and the inner ring adopts PID regulation.
2. The hardware-in-the-loop visualization simulation method for quad-rotor unmanned aerial vehicle according to claim 1, wherein step S2 comprises:
s21, a function for analyzing and packaging the Malink is integrated in a robot System Toolbox UAV Library Toolbox, wherein the deserializemmsg function analyzes the Malink packet from the buffer area; packing the serilizeimsg function into a mallink packet, and sending the mallink packet to PX4 through a com port;
s22, writing a Mavlikserial _ Receive function and a Mavlikserial _ Send function, and realizing the communication between Pixhawk and Simulink;
the S23 is that the MallinkSerial _ Receive module is responsible for receiving a PWM control signal which is PX4 and sent to the digital twin model, and the MallinkSerial _ Send module is responsible for sending attitude data of the digital twin model to the target controller.
3. The hardware-in-the-loop visualization simulation method for quad-rotor unmanned aerial vehicle according to claim 1, wherein step S3 comprises:
s31, constructing a four-rotor propeller, a motor and a horn three-dimensional model by using CATIA software according to an object-oriented design method;
s32, assembling the designed accessory model according to the actual size and the geometric position relation, and reproducing the appearance shape of the quad-rotor unmanned aerial vehicle;
and S33, converting the assembled accessory model into an STL format, importing the STL format into AC3D for reassembly and naming, and importing the STL format into FlightGear for three-dimensional visual simulation.
4. The hardware-in-the-loop visualization simulation method for a quad-rotor unmanned aerial vehicle according to claim 1, wherein the digital twin model of the unmanned aerial vehicle comprises a rigid body motion dynamic model, a rotor dynamic model and an actuator model, the rigid body motion dynamic model comprises a kinematic model and a dynamic model, and the step S1 comprises: the rigid motion dynamic is described by a quaternion model, and the rigid dynamic characteristics can be described as follows:
the rigid body kinematics can be described as:
wherein e represents a terrestrial coordinate system, b represents a body coordinate system,bomega is the angular velocity of the body, GaIs gyro moment, tau is the moment produced by propeller on the body axis, J is moment of inertia,
to represent the position vector in an inertial frame, m represents the quad-rotor mass, g represents the gravitational acceleration, feRepresents a tensile force, I3Represents a unit vector, e3Represents the vector along the ze axis, b3Representing a vector along the zb axis,
is a scalar part of the quaternion,
is the vector portion of the quaternion,ev is the derivative acceleration.
5. The hardware-in-the-loop visualization simulation method for quad-rotor unmanned aerial vehicle of claim 4, wherein quad-rotor unmanned aerial vehicle is configured to perform in-the-loop visualization simulationAmong rotor unmanned aerial vehicle's the kinetic model, four rotor unmanned aerial vehicle's pulling force and moment are produced through four screws, and the pulling force produces the acceleration of three direction, and moment produces the ascending rotary momentum in three direction, the pulling force sum that four motors producedbFTComprises the following steps:
torque generated by four motorsbT is:
wherein, cTIs a single-paddle coefficient of tension, cMIs the coefficient of the moment of force,
for the propeller angular velocity, L ═ L sin (pi/4), and L is the length of the horn.
6. The hardware-in-the-loop visualization simulation method for quad-rotor unmanned aerial vehicle according to claim 5, wherein the unmanned aerial vehicle actuator model of quad-rotor is composed of an electric controller and a brushless motor, and provides power for a propeller, the input is a PWM signal from a target controller, and the output is a motor rotation speed
Given a PWM signal, the actual motor requires a time delay TmCan reach the steady state rotation speed
The first-order inertia links are:
the delay performance is described by the above equation, where TmObtained through experiments.
7. The method for hardware-in-the-loop visualization simulation of a quad-rotor drone according to claim 1, wherein step S3 includes the following: according to an object-oriented design method, CATIA software is used for constructing a four-rotor propeller, a motor and a horn three-dimensional model, a curved surface modeling is used for establishing the four-rotor propeller three-dimensional model, each accessory of the unmanned aerial vehicle is modeled, the designed accessory models are assembled according to the actual size and geometric position relation, the appearance shape of the four-rotor unmanned aerial vehicle is reproduced, the unmanned aerial vehicle three-dimensional model is loaded into flight gear for three-dimensional visualization, the assembled model is converted into an STL format and is led into AC3D for reassembly, naming and previewing, a main view, a side view, a top view and a three-dimensional view are obtained, an Xml extensible markup language file is compiled by using NASAL language for configuring the unmanned aerial vehicle, wherein a Quadrotor-Xml file is compiled for specifying information such as airplane model, scene, runway and the like, a quadrotor.xml file is compiled for adjusting the position and posture of the aircraft, a Matlab/Aerosepack library provides an interface module related to flight gear, in Simulink, setting an airplane model, an airport, a runway, a simulation address and a target ip by utilizing a Generator Run Script, and generating a bat file to open a corresponding FlightGear interface; packaging the position and posture information by using a Pack net _ fdm Packet for flight Gear module, and sending the Pack net _ fdm Packet to flight Gear module to the flight Gear by using a Native-fdm data protocol for visual display.
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