CN116047889A - Control compensation method and device in virtual-real combination simulation system - Google Patents
Control compensation method and device in virtual-real combination simulation system Download PDFInfo
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Abstract
The invention provides a control compensation method and a device in a virtual-real combination simulation system, wherein the method comprises the following steps: determining target flight paths of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle; determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in a global coordinate system in the flight process based on a target flight path; calculating real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment based on a flight control calculation function so as to respectively obtain first speed information of the virtual unmanned aerial vehicle and first speed information of the physical unmanned aerial vehicle; calculating acceleration information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively; and performing coupling calculation on the acceleration information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle so as to perform speed control compensation on the physical unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtaining corrected second speed information of the physical unmanned aerial vehicle, wherein the second speed information is used for enabling the flight state of the virtual unmanned aerial vehicle to be consistent with that of the physical unmanned aerial vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to a control compensation method and device in a virtual-real combination simulation system.
Background
The unmanned aerial vehicle simulation is a loop through which actions such as unmanned aerial vehicle design, unmanned aerial vehicle verification related algorithm, unmanned aerial vehicle combat style conception and the like must be passed. The current unmanned aerial vehicle simulation plays an irreplaceable role in the fields of unmanned aerial vehicle dynamics, unmanned aerial vehicle obstacle avoidance, unmanned aerial vehicle cluster task planning and the like. The virtual-real combined simulation is a simulation method which is developed faster in recent years, and has good effects in the aspects of weapon efficiency evaluation, combat equipment test, industrial production assembly and the like. The virtual-real combined simulation method combines elements in the virtual space of the computer with elements in the real world, and plays roles of allocating resources across spaces and calling environments across time. The virtual-real combination simulation can supplement the defects of the real object by elements in the virtual environment under the limited real object condition, for example, the real object unmanned aerial vehicle is combined with the virtual sensor, so that the real object unmanned aerial vehicle can simulate in the virtual environment, and the effect the same as that of the simulation in the actual environment is achieved.
Simulation is a leading official for equipment development and tactical technique training. The unmanned aerial vehicle simulation is a powerful tool for unmanned aerial vehicle algorithm verification and tactical study. Along with the development of various intelligent algorithms such as genetic algorithm, simulated annealing algorithm, particle swarm algorithm, ant colony algorithm and the like, the problems related to the unmanned aerial vehicle are solved, and an improved intelligent algorithm is gradually adopted. In order to verify the effectiveness of these algorithms, there are many limitations on the pure physical system, firstly, the number of unmanned aerial vehicles is limited, and a common laboratory cannot use hundreds of unmanned aerial vehicles to perform algorithm verification. Secondly, energy is limited, and unmanned aerial vehicle's energy often only can support its time of leaving a space for several hours, can't carry out long-time or many times emulation, needs recharging and deployment system, and the process is very loaded down with trivial details. Thirdly, the verification algorithm cannot be successful once, so that damage to the unmanned aerial vehicle can occur in the process, and subsequent verification cannot be performed.
At present, the feasibility of an algorithm is verified in a computer simulation mode, but the computer simulation is limited to an ideal environment, so that the verified algorithm cannot be directly deployed on a physical unmanned aerial vehicle, and the algorithm needs to be adjusted according to actual test conditions, thereby prolonging the development period of the algorithm. The virtual-real combination simulation is a simulation technology which is generated when the full physical simulation is difficult to achieve and the reliability of the pure virtual simulation cannot meet the requirement, and the virtual-real combination is a combination mode of the virtual simulation of the system and the interchange and interconnection of the actual equipment to be tested, and can exert the characteristics of interface abstraction, function simulation and test function iterative development of the virtual system simulation, and meanwhile, the reality of the actual equipment is combined, so that the test meets the comprehensive, efficient and reliable requirements. The virtual-real combined simulation mode fully mobilizes the digital resources and physical resources in the simulation system, so that the original development flow which is linearly performed like design, modeling, simulation and verification can be developed in parallel in the simulation and verification stages, and the development efficiency is effectively improved.
The algorithm is known as "soul" of the intelligent unmanned equipment, and the level of "intelligence quotient" of the intelligent unmanned equipment is determined by the quality of the algorithm. The algorithm is arranged through the processes of design, programming, simulation and test, and the idea of combining virtual and real simulation is to combine the simulation process and the test process, so that the complicated simulation and test process is simplified, and the algorithm development period is shortened. The space-time consistency is the basis for building the distributed simulation system, and when the simulation system is large in scale or contains more heterogeneous systems, the influence of the space-time consistency on the accuracy of the simulation result is larger. The space-time consistency comprises time consistency and space consistency, and in the virtual-real combination simulation system, the virtual space and the physical space ensure that the cause and the effect and the logic are correct through the time consistency, and the virtual entity and the physical entity can ensure that the position in the simulation space is correctly perceived through the space consistency.
Further, one essential requirement of virtual-real combined simulation is coordination of virtual space and physical space. Consistent actions depend on consistent cognition, which is based on the spatiotemporal consistency of the simulation system. In practical application, the space-time consistency requirement is difficult to realize, so that the reduction of the space inconsistency between a physical entity and a virtual entity in virtual-real combination simulation is a technical problem which needs to be solved urgently by the existing scheme.
Disclosure of Invention
The invention provides a control compensation method and device in a virtual-real combination simulation system, which can be used for controlling the synchronization of the flight states of a virtual unmanned aerial vehicle and an entity unmanned aerial vehicle in the virtual-real combination simulation system.
In order to solve the technical problems, an embodiment of the present invention provides a control compensation method in a virtual-real combination simulation system, which is applied to flight control of an unmanned aerial vehicle, and the method includes:
determining target flight paths of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle;
determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in a global coordinate system in the flight process based on the target flight path;
calculating real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on a flight control calculation function so as to obtain first speed information of the virtual unmanned aerial vehicle and first speed information of the physical unmanned aerial vehicle respectively;
Calculating acceleration information of the virtual unmanned aerial vehicle and acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively;
and performing coupling calculation on the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the entity unmanned aerial vehicle, so as to perform speed control compensation on the entity unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtaining corrected second speed information of the entity unmanned aerial vehicle, wherein the second speed information is used for enabling the flight states of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle to be consistent.
As an optional embodiment, the global coordinate system is a three-dimensional space coordinate system, and the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle have own coordinate systems which are three-dimensional;
the method further comprises the steps of:
constructing a conversion matrix for converting the coordinates in the self coordinate system into the coordinates in the global coordinate system:
wherein phi is the roll angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, theta is the pitch angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, and phi is the yaw angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle.
As an optional embodiment, the determining real-time location information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the global coordinate system during the flight of the target flight path includes:
Determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively under the self coordinate system in the flight process of the target flight path;
and respectively and correspondingly determining the real-time position information in the global coordinate system based on the real-time position information under the self coordinate system and the conversion matrix.
As an optional embodiment, the real-time location information is three-dimensional coordinate information;
the calculating, based on the flight control resolving function, the real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively, including:
and calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on a flight control calculation function so as to obtain the linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
As an optional embodiment, the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle each include four propellers;
the method further comprises the steps of:
building a dynamic model corresponding to the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle, wherein the dynamic model comprises a linear motion equation and a gesture motion mechanical equation,
The linear equation of motion is:
wherein C is T As a lift coefficient, omega is the rotating speed of a propeller of the unmanned aerial vehicle, and m is the mass of the unmanned aerial vehicle;
the attitude motion mechanics equation is:
wherein, the machine head direction is defined as the positive direction of the x-axis, τ x For the moment of the rolling motion of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, tau y In order to pitch the virtual drone to the physical drone,
representing the rotational inertia of the unmanned aerial vehicle, and specifically comprising the rotational inertia in the x direction, the y direction and the z direction, [ eta, lambda, mu ]] T And the attitude angles of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle under the global coordinate system are as follows:
as an optional embodiment, the calculating, based on the flight control resolving function, the real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, respectively, includes:
and calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on a flight control resolving function and a dynamics model so as to obtain the expected linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
As an optional embodiment, the first speed information is three-dimensional space speed information located under the global coordinate system;
The calculating to obtain the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively includes:
and the plurality of PID controllers respectively calculate linear acceleration information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle.
As an alternative embodiment, the method further comprises:
acquiring real-time feedback third speed information of the entity unmanned aerial vehicle;
and the plurality of PID controllers respectively calculate and obtain the linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the entity unmanned aerial vehicle, and the method comprises the following steps:
and calculating linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction by the three PID controllers according to the following formulas:
wherein k is p 、k i 、k d Respectively calculated parameters in the PID controller,
for the first speed information to be used,
and the third speed information.
As an alternative embodiment, the method further comprises:
Acquiring real-time feedback third speed information of the entity unmanned aerial vehicle;
and comparing the third speed information with the first speed information of the virtual unmanned aerial vehicle, and controlling the operation of the entity unmanned aerial vehicle by the first speed information of the virtual unmanned aerial vehicle if the difference exceeds the threshold range.
Another embodiment of the present invention also provides a control compensation device in a virtual-real combined simulation system, including:
the first determining module is used for determining target flight paths of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle;
the second determining module is used for determining real-time position information in a global coordinate system in the flight process of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle based on the target flight path;
the first calculation module is used for calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment according to the flight control calculation function so as to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively;
the second calculation module is used for calculating acceleration information of the virtual unmanned aerial vehicle and acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively;
the third calculation module is configured to perform coupling calculation on the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the entity unmanned aerial vehicle, so as to perform speed control compensation on the entity unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtain corrected second speed information of the entity unmanned aerial vehicle, where the second speed information is used to make the flight states of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle consistent.
Based on the disclosure of the above embodiment, it can be known that the method has the advantages that the mathematical model and the control model are built for the unmanned aerial vehicle as the simulation object in the simulation system, the speed information of the unmanned aerial vehicle as the entity and the virtual unmanned aerial vehicle is determined by combining the control compensation algorithm and the built model calculation, the speed information of the unmanned aerial vehicle as the control entity is adjusted based on the speed information of the virtual unmanned aerial vehicle, so that the flight states of the two unmanned aerial vehicles are matched, and the motion consistency effect of the simulation object in the virtual-real combined simulation system is improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the present application is described in further detail below through the accompanying drawings and examples.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings:
FIG. 1 is a diagram showing the effect of the inconsistency of simulation space on simulation results in the prior art.
Fig. 2 is an effect diagram of spatial non-uniformity caused by space-time coupling in the prior art.
Fig. 3 is a flowchart of a control compensation method in a virtual-real combination simulation system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of coordinate system transformation in an embodiment of the invention.
Fig. 5 is a flowchart of an application of a control compensation method in a virtual-real combination simulation system according to an embodiment of the present invention.
Fig. 6 is a block diagram of a control compensation device in a virtual-real combination simulation system according to an embodiment of the present invention.
Detailed Description
Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings, but not limiting the invention.
It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the following description should not be taken as limiting, but merely as exemplification of the embodiments. Other modifications within the scope and spirit of this disclosure will occur to persons of ordinary skill in the art.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.
These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It is also to be understood that, although the invention has been described with reference to some specific examples, a person skilled in the art will certainly be able to achieve many other equivalent forms of the invention, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
The above and other aspects, features and advantages of the present disclosure will become more apparent in light of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely examples of the disclosure, which may be embodied in various forms. Well-known and/or repeated functions and constructions are not described in detail to avoid obscuring the disclosure in unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.
The specification may use the word "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the disclosure.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First, time consistency means that in the same distributed simulation system, simulation objects in different subsystems have the same time coordinate T. The simulation flow advances with time in units of simulation steps, and for a distributed simulation system, each subsystem needs to be located on the same time line. When the time consistency is destroyed, such as due to jitter of transmission delay, the result of the event, which is caused by the event, is transmitted to the user interaction system, so that the simulation user observes the phenomenon of causal reversal.
For a virtual-real combined simulation system combining a virtual space and a real space, clocks used by different subsystems, processing capacity of a computer and performance of a simulation communication network are main factors influencing time consistency. The shorter the simulation step, the greater the impact of clock errors on the simulation results. The first two influencing factors are difficult to change, a good network communication method needs to be designed in order to ensure that the virtual-real combination simulation system has good time consistency, and meanwhile, the influence of the first two on the time consistency can be fully reduced by designing a time stamp processing algorithm and an information distribution processing algorithm.
Spatial consistency means that the knowledge of spatial coordinates of the same entity by different subsystems is the same in the same simulation system. As shown in fig. 1, in a simulation system with a large geographic scale, such as a simulation system for missile shooting, the damage radius of a missile is 5km, and the determination of the final result is not greatly affected by errors of tens of meters caused by space inconsistency. However, for unmanned combat, especially urban combat, is often performed in small-space roadways and buildings, and errors on the scale of ten meters are unacceptable. Accordingly, there is a need for corresponding constraints on spatial consistency for different operational scenarios. The spatial coordinates include three-dimensional position coordinates and attitude angles of the entity. Spatial inconsistencies may be caused by different subsystems using different coordinate systems, and also by temporal inconsistencies, both of which are coupled.
The spatial consistency and the time consistency have a coupling relationship, namely, the space coupling is realized. In the simulation system, due to the transmission delay caused by the time inconsistency, the message of the subsystem B, which the subsystem a should receive at the time T, is delayed to the time t+n. The knowledge of the physical location in the subsystem B at time t+n is information at time T, at which time the spatial inconsistency is caused by the temporal inconsistency, as shown in fig. 2.
The time-space inconsistency caused by communication time delay and time-space coupling can be gradually accumulated along with the promotion of a simulation flow, the authenticity deviation of a simulation result can be increased, finally, the reliability of the simulation result is difficult to ensure, the influence on the simulation with smaller geographic scale is obvious, and the simulation related to the unmanned aerial vehicle is in the category. Meanwhile, the performance of the timestamp processing algorithm is affected by the larger communication delay, so that the time consistency is further affected.
For a simulation system for a drone, the knowledge of the space-time coordinates of the drone entity P by the subsystem can be expressed as:
the meaning of each element in the space-time coordinates is:
T i P -time coordinates of the unmanned aerial vehicle entity P.
And observing the virtual-real combined simulation system in a macroscopic angle, wherein the virtual space and the real space exist in the simulation system in a subsystem mode, and the virtual space and the real space have respective cognition to the unmanned aerial vehicle unit. The same unmanned plane entity P has entity sums in the virtual space and the physical space and is used for synchronizing the states of the virtual space to the physical space and the physical space to the virtual space.
In the virtual-real combined simulation, when space-time inconsistencies in different spaces are discussed, one space needs to be used as standard space-time, namely, the space-time coordinates in the current space are considered as true values, and the space-time coordinates in the current space are the objects of space-time coordinate comparison of other spaces.
From the definition of the space-time coordinates, the space-time coordinates of the unmanned aerial vehicle entity mainly consist of three groups of different units, namely the space positions
Unmanned aerial vehicle attitude angle->
And time T i P . The index of the space-time inconsistency can be simplified into the time inconsistency caused by network delay, and the formula is as follows:
T P the time in time for which the coordinates are received in the object space.
In the standard time space, the time when the space-time coordinates are sent, and in the virtual-real combination simulation system facing the unmanned plane, the space-time inconsistency is one of reasons for causing the inconsistency of the states of the virtual entity and the physical entity. Therefore, in order to improve and solve the inconsistent phenomenon, the embodiment of the invention provides a virtual-real combination simulation systemA medium control compensation method;
as shown in fig. 3, the control compensation method in the virtual-real combination simulation system in the embodiment of the invention is applied to the flight control of the unmanned aerial vehicle, and the method comprises the following steps:
s101, determining target flight paths of a virtual unmanned aerial vehicle and an entity unmanned aerial vehicle;
S102, determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in a global coordinate system in the flying process based on a target flying path;
s103, calculating real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on a flight control resolving function so as to respectively obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle;
s104, calculating acceleration information of the virtual unmanned aerial vehicle and acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively;
and S105, coupling and resolving the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the physical unmanned aerial vehicle so as to perform speed control compensation on the physical unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtaining corrected second speed information of the physical unmanned aerial vehicle, wherein the second speed information is used for enabling the flight states of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle to be consistent.
Based on the disclosure of the above embodiment, it can be known that the beneficial effects of the present embodiment include that a mathematical model and a control model are built for the unmanned aerial vehicle as a simulation object in the simulation system, speed information of the unmanned aerial vehicle as a physical unmanned aerial vehicle and a virtual unmanned aerial vehicle is calculated and determined by combining a control compensation algorithm and the built model, and speed information of the unmanned aerial vehicle as a control entity is adjusted based on the speed information of the virtual unmanned aerial vehicle, so that flight states of the two unmanned aerial vehicles are matched, and a motion consistency effect for the simulation object in the virtual-real combined simulation system is improved.
Further, the global coordinate system in the embodiment is a three-dimensional space coordinate system, and the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle have own coordinate systems which are three-dimensional;
because the coordinate systems are different coordinate systems, if the position information of various unmanned aerial vehicles is to be determined and compared, the coordinate systems need to be converted, so the method of the embodiment further comprises the following steps:
s106, constructing a conversion matrix for converting the coordinates in the self coordinate system into the coordinates in the global coordinate system:
wherein phi is the roll angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, theta is the pitch angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, and phi is the yaw angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle.
For example, taking the xoy plane as an example, as shown in fig. 4, the own coordinate system is xoy, the global coordinate system is x 'oy', and x 'oy' is obtained by rotating the xoy coordinate system counterclockwise by an angle ψ about the origin. Let the coordinate value of the point r in the own coordinate system be (x r ,y r ) The coordinate value in the global coordinate system is (x r1 ,y r1 ) The method can obtain:
x r1 ＝x r ·cosψ+y r ·sinψ
y r1 ＝-x r ·sinψ+y r ·cosψ
writing in matrix form is available:
when the three-dimensional space is expanded to the xoy plane, the three-dimensional space rotates around the z axis, so that the coordinate in the z axis direction is not changed, and the rotation formula of the three-dimensional space can be obtained by the following steps:
Namely C r1 ＝L z (ψ)·C r 。
Rotation formulas around the x-axis and the y-axis are similarly available as follows:
the transformation matrix from the self coordinate system of the unmanned aerial vehicle to the global coordinate system can be obtained according to the sequence of firstly winding the x axis, then winding the y axis and finally winding the z axis, and the transformation matrix comprises the following steps:
L＝L z (ψ)·L y (θ)·L x (φ)
phi is the roll angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, theta is the pitch angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, phi is the yaw angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, and the above formula is developed:
from the matrix, the determinant |L can be determined x (φ)|＝|L y (θ)|＝|L z (ψ) |=1, thus L x (φ)、L y (θ)、L z (ψ) is the invertible matrix, i.e. L is the invertible matrix.
When determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the flying process based on the target flying path, the method comprises the following steps:
determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively positioned under a self coordinate system in the flight process of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on a target flight path;
and respectively and correspondingly determining the real-time position information in the global coordinate system based on the real-time position information under the self coordinate system and the conversion matrix.
Further, as shown in fig. 5, the real-time position information in the present embodiment is three-dimensional coordinate information;
calculating real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on the flight control resolving function to respectively obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, wherein the method comprises the following steps:
And S107, calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on the flight control resolving function so as to respectively obtain the linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction.
In this embodiment, the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle both include four propellers, and the obtained second speed information includes speed information of the four propellers, respectively.
The method further comprises the steps of:
s108, constructing a dynamic model corresponding to the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle, wherein the dynamic model comprises a linear motion equation and a gesture motion mechanical equation,
the linear equation of motion is:
wherein C is T As a lift coefficient, omega is the rotating speed of a propeller of the unmanned aerial vehicle, and m is the mass of the unmanned aerial vehicle;
the attitude motion mechanics equation is:
wherein, the machine head direction is defined as the positive direction of the x-axis, τ x For the moment of the rolling motion of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, tau y In order to pitch the virtual drone to the physical drone,
representing the rotational inertia of the unmanned aerial vehicle, and specifically comprising the rotational inertia in the x direction, the y direction and the z direction, [ eta, lambda, mu ]] T The attitude angles of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle under the global coordinate system are as follows:
For example, when an unmanned aerial vehicle moves in a linear motion, the unmanned aerial vehicle is mainly affected by lift force, air resistance, gravity and external interference, wherein the lift force is proportional to the square of the rotating speed, and therefore the relationship between the lift force and the rotating speed is as follows:
F＝C T ω 2
wherein C is T And omega is the rotation speed of the propeller. Thus, the total lift force generated by the four propellers is of the magnitude:
the direction is the positive direction of the z-axis of the own coordinate system. Namely:
in this embodiment, the interference of the external field force on the unmanned aerial vehicle is temporarily not considered, and at the same time, the air resistance of the unmanned aerial vehicle is ignored, and the stress condition of the unmanned aerial vehicle is only related to the lifting force and the gravity. Then, under the global coordinate system, the linear motion equation of the unmanned aerial vehicle can be obtained according to the Newton's second law:
further, in the rotation of the unmanned aerial vehicle, a coordinate system is built by the unmanned aerial vehicle, and the moment of each of the four propellers is analyzed, and the moment of the first propeller is taken as an example, the method comprises the following steps:
M 1 ＝|F 1 |·|d|＝C T ω 1 2 d
F 1 for the point of force application, d is the vector from the wing attachment point to the point of force application, called the moment arm.
Moment M 1 Decomposition toOn the x-axis and the y-axis, two component sizes are obtained:
similarly, the moment M generated by the other three propellers can be obtained 2 、M 3 、M 4 The resultant moment in the x and y directions can be obtained by vector synthesis of the moment:
The handpiece direction is defined as the positive x-axis direction, τ x For the moment of the unmanned aerial vehicle rolling motion, τ y To pitch the drone. The moment in the z-axis direction can yaw the unmanned aerial vehicle, and when the propeller rotates, the air provides lift force and simultaneously provides resistance force opposite to the rotating direction for the propeller, so that f 1 For equivalent air resistance, r is half of the length of the propeller, and the torque is obtained by a torque calculation formula, and the generated torque is as follows: m is M u ＝r×f 1
And this torque is proportional to the square of the rotational speed of the propeller: m is M u ＝C z ω 2
Thus, the sum of the torque produced by the four propellers is: τ z ＝C z (ω 1 2 -ω 2 2 +ω 3 2 -ω 4 2 )
From this, the relationship between lift, roll, pitch, yaw moment and each propeller rotational speed can be established, and the complete force decomposition model is as follows:
further, according to the Euler dynamics equation, establishing a gesture dynamics equation to obtain:
wherein τ= [ τ ] x ,τ y ,τ z ] T Is the moment generated by the propeller on the machine body,
and the rotational inertia of the unmanned aerial vehicle is represented, and xi is the angular speed of the unmanned aerial vehicle under the global coordinate system. Ignoring gyro moment G a Simultaneously, the attitude angle of the unmanned aerial vehicle under the global coordinate system is [ eta, lambda, mu ]] T The method can obtain:
under the assumption of a small angle, that is, the rotation of the unmanned aerial vehicle in motion is considered to be performed under the condition of a small angle, the relation can be obtained:
The attitude motion mechanics equation is:
further, with continued reference to fig. 5, calculating real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on the flight control resolving function to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, respectively, includes:
and S109, calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on the flight control resolving function and the dynamic model so as to obtain the expected linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
The first speed information in the embodiment is three-dimensional space speed information under a global coordinate system, and includes speed information in x direction, y direction and z direction;
when the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the entity unmanned aerial vehicle are obtained by calculation based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the entity unmanned aerial vehicle respectively, the method comprises the following steps:
s110, respectively calculating linear acceleration information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction by a plurality of PID controllers according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle.
Specifically, the PID control is a classical controller widely used in industrial fields, has a simple structure, low requirements on a controlled object model and low maintenance cost, and an operator can adjust parameters according to own experience. The PID is used for realizing the adaptation of different models and meeting the requirements of different control performances by adjusting the parameters of the proportional (P), integral (I) and derivative (D) controllers, so that the PID controller is selected as the controller of the virtual unmanned aerial vehicle and the real unmanned aerial vehicle, and linear acceleration information of various unmanned aerial vehicles in the x direction, the y direction and the z direction is calculated and determined based on first speed information obtained by flight control calculation.
Preferably, in order to improve the speed calculation accuracy for the entity unmanned aerial vehicle, the method in the embodiment further includes:
s111, obtaining third speed information of the real-time feedback entity unmanned aerial vehicle;
the method for calculating the linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction by the PID controllers at least according to the speed information in the x direction, the y direction and the z direction in the first speed information of the entity unmanned aerial vehicle comprises the following steps:
s112, calculating linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction by three PID controllers according to the following formulas:
Wherein k is p 、k i 、k d The calculated parameters in the PID controller respectively,
for the first speed information +>
Is the third speed information.
That is, as shown in fig. 5, after calculating real-time position information of the unmanned aerial vehicle under the global coordinate system based on the intelligent algorithm, obtaining three-axis expected linear speeds of the entity unmanned aerial vehicle through calculation of flight control of the unmanned aerial vehicle, correspondingly delivering speed information in three directions of the expected linear speeds and linear speed information in each direction of feedback third speed information to three independent PID controllers respectively for calculation, and finally obtaining linear acceleration of the entity unmanned aerial vehicle, wherein a specific calculation formula is as above. Meanwhile, the first speed information of the virtual unmanned aerial vehicle also needs to be calculated by the PID controller to obtain corresponding acceleration information, then the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the physical unmanned aerial vehicle are input into the coupling resolving module together to be coupled and resolved, and further the rotational speed information of the four propellers of the corresponding physical unmanned aerial vehicle is obtained, and the motor control module adjusts and controls the rotational speeds of the propellers of the physical unmanned aerial vehicle based on the obtained rotational speed information, so that the posture and the advancing speed of the propeller are adjusted to be consistent with the flight state of the virtual unmanned aerial vehicle (in the embodiment, the physical unmanned aerial vehicle is adjusted based on the position and the speed information of the virtual unmanned aerial vehicle).
In order to avoid repeated unlimited adjustment, reduce adjustment cost, and improve adjustment efficiency, the method in the embodiment further includes:
s103, obtaining real-time feedback third speed information of the entity unmanned aerial vehicle;
s104, comparing the third speed information with the first speed information of the virtual unmanned aerial vehicle, and if the difference exceeds the threshold range, controlling the operation of the entity unmanned aerial vehicle by using the first speed information of the virtual unmanned aerial vehicle.
That is, the second speed information after the feedback adjustment can be compared with the first speed information of the virtual unmanned aerial vehicle, if the difference is large and exceeds the threshold range, the difficulty of the adjustment process is large, and at the moment, the rotating speed of the entity unmanned aerial vehicle can be adjusted directly based on the first speed information of the virtual unmanned aerial vehicle.
As shown in fig. 6, another embodiment of the present invention also provides a control compensation device 100 in a virtual-real combined simulation system, which is characterized by comprising:
the first determining module is used for determining target flight paths of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle;
the second determining module is used for determining real-time position information in a global coordinate system in the flight process of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle based on the target flight path;
The first calculation module is used for calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment according to the flight control calculation function so as to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively;
the second calculation module is used for calculating acceleration information of the virtual unmanned aerial vehicle and acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively;
the third calculation module is configured to perform coupling calculation on the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the entity unmanned aerial vehicle, so as to perform speed control compensation on the entity unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtain corrected second speed information of the entity unmanned aerial vehicle, where the second speed information is used to make the flight states of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle consistent.
As an optional embodiment, the global coordinate system is a three-dimensional space coordinate system, and the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle have own coordinate systems which are three-dimensional;
the method further comprises the steps of:
constructing a conversion matrix for converting the coordinates in the self coordinate system into the coordinates in the global coordinate system:
Wherein phi is the roll angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, theta is the pitch angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, and phi is the yaw angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle.
As an optional embodiment, the determining real-time location information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the global coordinate system during the flight of the target flight path includes:
determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively under the self coordinate system in the flight process of the target flight path;
and respectively and correspondingly determining the real-time position information in the global coordinate system based on the real-time position information under the self coordinate system and the conversion matrix.
As an optional embodiment, the real-time location information is three-dimensional coordinate information;
the calculating, based on the flight control resolving function, the real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively, including:
and calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on a flight control calculation function so as to obtain the linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
As an optional embodiment, the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle each include four propellers;
the apparatus further comprises:
a construction module for constructing a dynamic model corresponding to the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle, wherein the dynamic model comprises a linear motion equation and a gesture motion mechanical equation,
the linear equation of motion is:
wherein C is T As a lift coefficient, omega is the rotating speed of a propeller of the unmanned aerial vehicle, and m is the mass of the unmanned aerial vehicle;
the attitude motion mechanics equation is:
wherein, the machine head direction is defined as the positive direction of the x-axis, τ x For the moment of the rolling motion of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, tau y In order to pitch the virtual drone to the physical drone,
representing the rotational inertia of the unmanned aerial vehicle, and specifically comprising the rotational inertia in the x direction, the y direction and the z direction, [ eta, lambda, mu ]] T And the attitude angles of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle under the global coordinate system are as follows:
as an optional embodiment, the calculating, based on the flight control resolving function, the real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, respectively, includes:
And calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on a flight control resolving function and a dynamics model so as to obtain the expected linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
As an optional embodiment, the first speed information is three-dimensional space speed information located under the global coordinate system;
the calculating to obtain the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively includes:
and the plurality of PID controllers respectively calculate linear acceleration information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle.
As an alternative embodiment, the apparatus further comprises:
the obtaining module is used for obtaining the real-time feedback third speed information of the entity unmanned aerial vehicle;
and the plurality of PID controllers respectively calculate and obtain the linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the entity unmanned aerial vehicle, and the method comprises the following steps:
And calculating linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction by the three PID controllers according to the following formulas:
wherein k is p 、k i 、k d Respectively calculated parameters in the PID controller,
for the first speed information to be used,
and the third speed information.
As an alternative embodiment, the apparatus further comprises:
the obtaining module is used for obtaining the real-time feedback third speed information of the entity unmanned aerial vehicle;
and comparing the third speed information with the first speed information of the virtual unmanned aerial vehicle, and controlling the operation of the entity unmanned aerial vehicle by the first speed information of the virtual unmanned aerial vehicle if the difference exceeds the threshold range.
Another embodiment of the present invention also provides an electronic device, including:
one or more processors;
a memory configured to store one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the control compensation method in the virtual-real combination simulation system described above.
Further, an embodiment of the present invention provides a storage medium having a computer program stored thereon, which when executed by a processor implements a method for controlling compensation in a virtual-real combination simulation system as described above. It should be understood that each solution in this embodiment has a corresponding technical effect in the foregoing method embodiment, which is not described herein.
Further, embodiments of the present invention also provide a computer program product tangibly stored on a computer-readable medium and comprising computer-readable instructions that, when executed, cause at least one processor to perform a method of controlling compensation in a virtual-to-real joint simulation system, such as in the embodiments described above.
It should be noted that, the computer storage medium of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage media element, a magnetic storage media element, or any suitable combination of the foregoing. In the context of this application, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, antenna, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Additionally, it should be apparent to those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this invention will occur to those skilled in the art, and are intended to be within the spirit and scope of the invention.
Claims (10)
1. A control compensation method in a virtual-real combination simulation system is applied to flight control of an unmanned aerial vehicle, and is characterized by comprising the following steps:
determining target flight paths of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle;
determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in a global coordinate system in the flight process based on the target flight path;
calculating real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on a flight control calculation function so as to obtain first speed information of the virtual unmanned aerial vehicle and first speed information of the physical unmanned aerial vehicle respectively;
calculating acceleration information of the virtual unmanned aerial vehicle and acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively;
and performing coupling calculation on the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the entity unmanned aerial vehicle, so as to perform speed control compensation on the entity unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtaining corrected second speed information of the entity unmanned aerial vehicle, wherein the second speed information is used for enabling the flight states of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle to be consistent.
2. The method for controlling and compensating in a virtual-real combination simulation system according to claim 1, wherein the global coordinate system is a three-dimensional space coordinate system, and the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle have own coordinate systems which are three-dimensional together;
the method further comprises the steps of:
constructing a conversion matrix for converting the coordinates in the self coordinate system into the coordinates in the global coordinate system:
wherein phi is the roll angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, theta is the pitch angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle, and phi is the yaw angle of the virtual unmanned aerial vehicle or the physical unmanned aerial vehicle.
3. The method for compensating control in a virtual-real combination simulation system according to claim 2, wherein the determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in a global coordinate system during the flight of the target flight path includes:
determining real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively under the self coordinate system in the flight process of the target flight path;
and respectively and correspondingly determining the real-time position information in the global coordinate system based on the real-time position information under the self coordinate system and the conversion matrix.
4. The method for controlling and compensating in a virtual-real combination simulation system according to claim 2, wherein the real-time position information is three-dimensional coordinate information;
the calculating, based on the flight control resolving function, the real-time position information of the next moment of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively, including:
and calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on a flight control calculation function so as to obtain the linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
5. The method for controlling and compensating in a virtual-real combination simulation system according to claim 4, wherein the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle each comprise four propellers;
the method further comprises the steps of:
building a dynamic model corresponding to the virtual unmanned aerial vehicle and/or the physical unmanned aerial vehicle, wherein the dynamic model comprises a linear motion equation and a gesture motion mechanical equation,
the linear equation of motion is:
wherein C is T As a lift coefficient, omega is the rotating speed of a propeller of the unmanned aerial vehicle, and m is the mass of the unmanned aerial vehicle;
The attitude motion mechanics equation is:
wherein, the machine head direction is defined as the positive direction of the x-axis, τ x For the moment of the rolling motion of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle, tau y In order to pitch the virtual drone to the physical drone,
representing the rotational inertia of the unmanned aerial vehicle, and specifically comprising the rotational inertia in the x direction, the y direction and the z direction, [ eta, lambda, mu ]] T And the attitude angles of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle under the global coordinate system are as follows:
6. the method for controlling and compensating in a virtual-actual combined simulation system according to claim 5, wherein the calculating real-time position information of the next time of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle based on the flight control resolving function to obtain the first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively includes:
and calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment at least based on a flight control resolving function and a dynamics model so as to obtain the expected linear velocity information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction respectively.
7. The method for controlling and compensating in a virtual-real combined simulation system according to claim 2, wherein the first velocity information is three-dimensional space velocity information in the global coordinate system;
The calculating to obtain the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively includes:
and the plurality of PID controllers respectively calculate linear acceleration information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle in the x direction, the y direction and the z direction according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle.
8. The method for controlling compensation in a virtual-real combination simulation system according to claim 7, wherein the method further comprises:
acquiring real-time feedback third speed information of the entity unmanned aerial vehicle;
and the plurality of PID controllers respectively calculate and obtain the linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction according to at least the speed information in the x direction, the y direction and the z direction in the first speed information of the entity unmanned aerial vehicle, and the method comprises the following steps:
and calculating linear acceleration information of the entity unmanned aerial vehicle in the x direction, the y direction and the z direction by the three PID controllers according to the following formulas:
wherein k is p 、k i 、k d Respectively calculated parameters in the PID controller,
for the first speed information to be used,
and the third speed information.
9. The method for controlling compensation in a virtual-real combination simulation system according to claim 1, wherein the method further comprises:
acquiring real-time feedback third speed information of the entity unmanned aerial vehicle;
and comparing the third speed information with the first speed information of the virtual unmanned aerial vehicle, and controlling the operation of the entity unmanned aerial vehicle by the first speed information of the virtual unmanned aerial vehicle if the difference exceeds the threshold range.
10. A control compensation device in a virtual-real combination simulation system, comprising:
the first determining module is used for determining target flight paths of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle;
the second determining module is used for determining real-time position information in a global coordinate system in the flight process of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle based on the target flight path;
the first calculation module is used for calculating the real-time position information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle at the next moment according to the flight control calculation function so as to obtain first speed information of the virtual unmanned aerial vehicle and the physical unmanned aerial vehicle respectively;
the second calculation module is used for calculating acceleration information of the virtual unmanned aerial vehicle and acceleration information of the physical unmanned aerial vehicle based on the first speed information of the virtual unmanned aerial vehicle and the first speed information of the physical unmanned aerial vehicle respectively;
The third calculation module is configured to perform coupling calculation on the acceleration information of the virtual unmanned aerial vehicle and the acceleration information of the entity unmanned aerial vehicle, so as to perform speed control compensation on the entity unmanned aerial vehicle based on the acceleration information of the virtual unmanned aerial vehicle, and obtain corrected second speed information of the entity unmanned aerial vehicle, where the second speed information is used to make the flight states of the virtual unmanned aerial vehicle and the entity unmanned aerial vehicle consistent.
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