CN113985920A - Portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator - Google Patents
Portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator Download PDFInfo
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Abstract
The invention discloses a portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator, which relates to the technical field of flight simulation, and comprises an aircraft digital simulation module, a quick implementation tool chain and a simulation computer; the airplane digital simulation module is used for decomposing a mathematical model and a physical model of the airplane and respectively modeling the mathematical model and the physical model to form a simulation model; the quick implementation tool chain is used for carrying out quick code automatic generation on the simulation model of the airplane; the simulation computer is used for loading codes and operating settlement to realize airplane simulation. By adopting the technical scheme of the invention, the airplane model can be generated rapidly in a modularized manner, the verification test can be carried out on different nodes, the design and debugging period is greatly reduced, and the portability is better.
Description
Technical Field
The invention relates to the technical field of flight simulation, in particular to a portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator.
Background
In recent years, unmanned aerial vehicles are widely applied to military and civil fields due to the characteristics of simple structure, flexibility and the like. However, with the gradual complexity and diversification of application scenes and task requirements, the flight control of a single unmanned aerial vehicle cannot meet the requirements, and multiple unmanned aerial vehicles need to be adopted for formation flight control to realize tasks such as cooperative reconnaissance, battle, defense and pesticide spraying. At present, a rich result is obtained in the aspect of a multi-unmanned aerial vehicle formation flight theory, but a physical flight test can only realize cooperative formation flight in a simple communication environment, the real-time performance of task allocation and flight path planning is not high, the robustness of a control method for emergency situations is low, the cooperative sensing capability of multiple machines and multiple sensors is insufficient, the simulation of an entity is not realized, the future research direction is to break through the defects of the key technology, the multi-unmanned aerial vehicle cooperative formation flight research in a complex sensing constraint and complex communication environment is developed, a more effective control method is provided, the multi-unmanned aerial vehicle formation semi-physical simulation flight test is carried out, the quick verification of the flight control system function is realized, the reliability of a simulation result is improved, the research and development period is shortened, and the trial flight risk is reduced.
The key point for realizing high-fidelity semi-physical simulation is the design of an airplane simulator computer. The design development and design of the traditional airplane simulator computer are as follows: a research and development staff firstly analyzes the design requirement of the airplane to provide an overall design scheme, designs a hardware implementation scheme of the airplane simulator computer according to the hardware requirement, develops and compiles a program code for describing the airplane characteristic according to the software requirement of the airplane simulator computer, and finally verifies and tests. The verification and test work can be carried out only after the whole airplane simulator computer is developed, one node cannot be independently verified in the development process, errors or imperfections found in the final verification process need to return to the corresponding node for redesign and development, more time and cost are needed to correct the errors in the upper layer, the whole development process is sequential instead of iterative, and in addition, the heterogeneous unmanned aerial vehicle formation airplane model is further complicated, so that the development period is too long, the code amount is too large, and the development cost is too large.
The invention relates to a model-based airplane simulator computer rapid implementation platform, which is characterized in that: the system comprises an airplane digital simulation module, a quick implementation tool chain and a simulation computer; after the modeled airplane simulation algorithm is loaded into an airplane simulation software module, a code is generated through a quick implementation tool chain and is transmitted to a simulation computer, and the simulation computer realizes the design of an airplane simulator computer through loading the code.
Disclosure of Invention
The invention aims to provide a portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator, which can modularly and quickly generate an aircraft model, can perform verification tests on different nodes, greatly reduces design and debugging periods, and has better portability.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a portable heterogeneous unmanned aerial vehicle formation flight aircraft simulator which characterized in that: the system comprises an airplane digital simulation module, a quick implementation tool chain and a simulation computer;
the airplane digital simulation module is used for decomposing a mathematical model and a physical model of an airplane and respectively modeling the mathematical model and the physical model to form a simulation model;
the rapid implementation tool chain is used for automatically generating rapid codes for the simulation model of the airplane;
the simulation computer is used for loading codes and operating settlement to realize airplane simulation.
Preferably, the mathematical model comprises an atmosphere module, an engine, an actuator module, a pneumatic parameter module, and a motion equation module,
the atmosphere module is used for measuring dynamic pressure and Mach number of the airplane during flying and respectively sending the dynamic pressure and the Mach number to the motion equation module and the engine module;
the pneumatic parameter module is used for measuring pneumatic data, receiving an operation instruction and sending pneumatic parameters to the motion equation module;
the engine module is used to power the entire aircraft.
Preferably, the physical model comprises a mass model, an aerodynamic model and an equation of motion model,
the mass model comprises mass distribution, gravity center positions and self moment of inertia change data enumerated in the mass characteristic data document of the research object, and gravity center parameters, mass parameters and inertia parameters corresponding to the unmanned aerial vehicle at a certain moment in the flying process are calculated through a two-dimensional linear interpolation algorithm;
the aerodynamic model is used for evaluating the influence of wind shear, calculating aerodynamic parameters of the wind shear, and sending aerodynamic moment and aerodynamic parameters to the motion equation model;
the motion equation model adopts a six-degree-of-freedom nonlinear motion equation, and various resultant forces and resultant moments borne by the airplane are combined to complete the calculation of six-degree-of-freedom flight parameters of the unmanned aerial vehicle.
Preferably, the flight parameters include airspeed, angle of attack, sideslip angle; attitude angle: roll angle, pitch angle, yaw angle; attitude angular acceleration: roll angular acceleration, pitch angular acceleration, yaw angular acceleration; position information: longitudinal displacement, lateral displacement, and fly height.
Preferably, the simulation computer adopts a CPU + FPGA architecture, the CPU adopts TI OMAP-L138 as a core processor to realize the operation settlement of a six-degree-of-freedom kinematics and kinetic equation, an atmospheric model, an engine model, an execution mechanism model, a sensor model and the like of the airplane, and the FPGA mainly completes the functions of interface timing sequence, interface expansion and the like to realize the connection with the airplane simulator, the visual computer and the ground station.
The principle and the beneficial effects of the technical scheme are as follows:
the invention utilizes a quick realization tool chain to realize the direct generation of a digital simulation model, generates an embedded software code which CAN run on corresponding hardware, CAN carry out comprehensive test and verification on the simulator software by means of a model rule check code test, a software model in loop (SIL), a Hardware In Loop (HIL) and the like, thereby quickly and efficiently obtaining high-quality airplane simulation software, downloading the airplane simulation software to an airplane simulator computer, and simultaneously realizing a semi-physical simulation function and further realizing the ground verification of a whole machine by expecting connection through interfaces such as RS232, RS422, RS485, CAN and the like according to different interface requirements of a flight control computer.
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FIG. 1 is a diagram illustrating data transfer between modules of a mathematical model according to an embodiment of the present invention;
FIG. 2 is a functional relationship diagram between modules of a mathematical model provided by an embodiment of the present invention;
FIG. 3 is a diagram illustrating the transfer of information between modules of a physical model according to an embodiment of the present invention;
FIG. 4 is a diagram of an aerodynamic model provided by an embodiment of the present invention;
fig. 5 is a block diagram of an emulation computer provided in an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and embodiments:
example 1:
a portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator can modularly and quickly generate an aircraft model, can carry out verification tests on different nodes, greatly reduces design and debugging periods, and has better portability;
the airplane digital simulation module is used for decomposing a mathematical model and a physical model of an airplane and respectively modeling the mathematical model and the physical model to form a simulation model, the modularized modeling not only simplifies the establishment of the model, but also is convenient for simulation verification, can reduce the calculation load and meet the requirements of real-time simulation, the mathematical model of the airplane can simultaneously build different types of airplanes in a simulation environment by utilizing the Simulink design of a graphical language, and the functions of independent starting, operation, stopping and the like of different types of airplanes with different numbers can be realized through the time scheduling module.
The mathematical model comprises an atmosphere module, an engine, an actuator module, a pneumatic parameter module and a motion equation module, wherein information transmission among the modules is shown in figure 1, the functional relation of the modules is shown in figure 2, each airplane is provided with an independent trigger module for controlling the starting and the operation of respective simulation so as to realize the formation simulation function.
The atmosphere module is used for measuring dynamic pressure and Mach number of the airplane during flying and respectively sending the dynamic pressure and the Mach number to the motion equation module and the engine module;
the pneumatic parameter module is used for measuring pneumatic data, receiving an operation instruction and sending pneumatic parameters to the motion equation module;
as shown in fig. 3, the physical model includes a mass model, an aerodynamic model and an equation of motion model,
the mass model comprises mass distribution, gravity center position and self inertia moment change data enumerated in the mass characteristic data document of the research object, and gravity center parameters, mass parameters and inertia parameters corresponding to the unmanned aerial vehicle at a certain moment in the flying process are calculated through a two-dimensional linear interpolation algorithm;
the aerodynamic model is used for evaluating the influence of wind shear, calculating aerodynamic parameters of the wind shear, and sending aerodynamic moment and aerodynamic parameters to the motion equation model;
to evaluate the effect of wind shear, an aerodynamic (background wind, turbulence, wind shear, etc.) model was constructed, as shown in fig. 4, and the wind can be classified into a constant wind and a varying wind according to the motion characteristics of the air mass. The constant wind refers to wind with a constant wind speed vector in a certain space and time range; the variable wind refers to wind with the wind speed and the wind speed changing in the direction within a certain space and time range, and the variable wind is atmospheric turbulence. The background wind module mainly simulates three-directional wind in the northeast, a model of turbulent flow speed is described in a power spectrum form, a von Karman turbulent flow model is adopted, and wind shear mainly simulates the space-time change of wind and mainly considers the influence of the wind shear on the angular rate.
The motion equation model adopts a six-degree-of-freedom nonlinear motion equation, and various resultant forces and resultant moments borne by the airplane are combined to complete the resolving of six-degree-of-freedom flight parameters of the unmanned aerial vehicle, wherein the flight parameters mainly comprise airspeed, attack angle and sideslip angle; attitude angle: roll angle, pitch angle, yaw angle; attitude angular acceleration: roll angular acceleration, pitch angular acceleration, yaw angular acceleration; position information: longitudinal displacement, lateral displacement, and fly height.
The unmanned aerial vehicle structure is assumed to be a rigid body in the embodiment, deformation cannot occur, and the earth surface is a plane. As can be seen from the foregoing description, the rigid body aircraft under study has six degrees of freedom, and the motion process of the aircraft in the atmosphere can be expressed and described by using a mathematical expression, i.e., a motion equation, or a differential equation, and a four-order Runge-Kutta (Runge-Kutta) method is used for solving the six-degree-of-freedom model of the unmanned aerial vehicle. The motion equation of the rigid body aircraft contains a series of state parameters, and the motion rule of the rigid body aircraft in the atmosphere can be observed visually by researching the change rule of the state parameters. The control of the rigid body aircraft can be realized by regulating and controlling the state parameters.
The quick implementation tool chain is used for carrying out quick code automatic generation on the simulation model of the airplane;
as shown in fig. 5, the simulation computer adopts a CPU + FPGA architecture, the CPU adopts TI OMAP-L138 as a core processor to realize the operation settlement of the six-degree-of-freedom kinematics and kinetic equation, the atmospheric model, the engine model, the actuator model, the sensor model, and the like of the airplane, and the FPGA mainly completes the functions of interface timing, interface expansion, and the like to realize the connection with the airplane simulator, the visualization computer, and the ground station.
In summary, the digital simulation model is directly generated into the embedded software code which can run on the corresponding hardware by using the automatic code generation technology for quickly realizing the tool chain, and the simulation software can be comprehensively tested and verified by means of code test for checking the model rule, software model in loop (SIL), Hardware In Loop (HIL) and the like, so that the high-quality aircraft simulation software can be quickly and efficiently obtained and downloaded to the aircraft simulator computer. According to different interface requirements of the flight control computer, a semi-physical simulation function is realized through expected connection of interfaces such as RS232, RS422, RS485 and CAN, and ground verification of the whole aircraft is further realized.
The foregoing is merely an example of the present invention and common general knowledge in the art of designing and/or characterizing particular aspects and/or features is not described in any greater detail herein. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. The utility model provides a portable heterogeneous unmanned aerial vehicle formation flight aircraft simulator which characterized in that: the system comprises an airplane digital simulation module, a quick implementation tool chain and a simulation computer;
the airplane digital simulation module is used for decomposing a mathematical model and a physical model of an airplane and respectively modeling the mathematical model and the physical model to form a simulation model;
the rapid implementation tool chain is used for automatically generating rapid codes for the simulation model of the airplane;
the simulation computer is used for loading codes and operating settlement to realize airplane simulation.
2. The portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator of claim 1, wherein: the mathematical model comprises an atmosphere module, an engine, an actuator module, a pneumatic parameter module and a motion equation module,
the atmosphere module is used for measuring dynamic pressure and Mach number of the airplane during flying and respectively sending the dynamic pressure and the Mach number to the motion equation module and the engine module;
the pneumatic parameter module is used for measuring pneumatic data, receiving an operation instruction and sending pneumatic parameters to the motion equation module;
the engine module is used to power the entire aircraft.
3. The portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator of claim 1, wherein: the physical model comprises a mass model, an aerodynamic model and an equation of motion model,
the mass model comprises mass distribution, gravity center positions and self moment of inertia change data enumerated in the mass characteristic data document of the research object, and gravity center parameters, mass parameters and inertia parameters corresponding to the unmanned aerial vehicle at a certain moment in the flying process are calculated through a two-dimensional linear interpolation algorithm;
the aerodynamic model is used for evaluating the influence of wind shear, calculating aerodynamic parameters of the wind shear, and sending aerodynamic moment and aerodynamic parameters to the motion equation model;
the motion equation model adopts a six-degree-of-freedom nonlinear motion equation, and various resultant forces and resultant moments borne by the airplane are combined to complete the calculation of six-degree-of-freedom flight parameters of the unmanned aerial vehicle.
4. The portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator of claim 3, wherein: the flight parameters mainly comprise airspeed, attack angle and sideslip angle; attitude angle: roll angle, pitch angle, yaw angle; attitude angular acceleration: roll angular acceleration, pitch angular acceleration, yaw angular acceleration; position information: longitudinal displacement, lateral displacement, and fly height.
5. The portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator of claim 1, wherein: the simulation computer adopts a CPU + FPGA architecture, the CPU adopts TI OMAP-L138 as a core processor to realize the operation settlement of the six-degree-of-freedom kinematics and the kinetic equation of the airplane, an atmospheric model, an engine model, an actuating mechanism model, a sensor model and the like, and the FPGA mainly completes the functions of interface timing sequence, interface expansion and the like to realize the connection with the airplane simulator, the visual computer and the ground station.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116414152A (en) * | 2023-06-12 | 2023-07-11 | 中国空气动力研究与发展中心空天技术研究所 | Reentry vehicle transverse and lateral rapid maneuver control method, system, terminal and medium |
| CN116736740A (en) * | 2023-08-09 | 2023-09-12 | 东方空间技术(山东)有限公司 | Simulation system and method for multiple aircrafts |
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| CN102789171A (en) * | 2012-09-05 | 2012-11-21 | 北京理工大学 | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control |
| CN104007665A (en) * | 2014-05-30 | 2014-08-27 | 北京航空航天大学 | Flight simulation test system for solid-liquid power aircraft |
| CN105718619A (en) * | 2014-12-05 | 2016-06-29 | 成都飞机设计研究所 | Method for determining fuel quality characteristics of aircraft based on finite element method |
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- 2021-11-05 CN CN202111305282.2A patent/CN113985920A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102789171A (en) * | 2012-09-05 | 2012-11-21 | 北京理工大学 | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control |
| CN104007665A (en) * | 2014-05-30 | 2014-08-27 | 北京航空航天大学 | Flight simulation test system for solid-liquid power aircraft |
| CN105718619A (en) * | 2014-12-05 | 2016-06-29 | 成都飞机设计研究所 | Method for determining fuel quality characteristics of aircraft based on finite element method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116414152A (en) * | 2023-06-12 | 2023-07-11 | 中国空气动力研究与发展中心空天技术研究所 | Reentry vehicle transverse and lateral rapid maneuver control method, system, terminal and medium |
| CN116414152B (en) * | 2023-06-12 | 2023-08-15 | 中国空气动力研究与发展中心空天技术研究所 | Reentry vehicle transverse and lateral rapid maneuver control method, system, terminal and medium |
| CN116736740A (en) * | 2023-08-09 | 2023-09-12 | 东方空间技术(山东)有限公司 | Simulation system and method for multiple aircrafts |
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