CN116360289A - Semi-physical simulation system based on flight controller - Google Patents
Semi-physical simulation system based on flight controller Download PDFInfo
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Abstract
The application provides a semi-physical simulation system based on a flight controller, and relates to the technical field of flight control simulation. The system comprises a data acquisition card and an upper computer, wherein the data acquisition card is in communication connection with the upper computer; the data acquisition card is used for being in communication connection with the flight controller to be simulated, acquiring control signal data of the flight controller to be simulated in real time and sending the control signal data to the upper computer; the upper computer comprises a processing module, and a simulation model is operated on the upper computer; the simulation model is used for simulating the control signal data to obtain simulation intermediate data; the processing module is used for calculating the simulation intermediate data to obtain a simulation result. The data acquisition card is used for acquiring the data of the flight controller in real time, the data can be simulated on the upper computer, and the stability and the safety of the flight controller can be judged on the basis of reducing the experimental cost in the semi-physical simulation process.
Description
Technical Field
The application relates to the technical field of flight control simulation, in particular to a semi-physical simulation system based on a flight controller.
Background
With the entrance of society into informatization and intelligence, unmanned aerial vehicles are widely used in various fields. The performance requirements of various fields on the multifunction, miniaturization and intellectualization of unmanned aerial vehicles are becoming higher and higher. The flight control system is used as the most critical part of unmanned aerial vehicle development, and plays roles of implementing unmanned aerial vehicle attitude calculation, flight control instruction analysis and the like.
At present, the flight control technology needs to be tested and verified through a frequent test flight technology, but in the prior art, the simulation process is simple and single, so that the stability and the safety of the flight controller cannot be well judged.
Disclosure of Invention
An object of the embodiment of the application is to provide a semi-physical simulation system based on a flight controller, which is used for performing semi-physical simulation on the flight control system, judging the stability and the safety of the flight controller on the basis of reducing the experimental cost, and further providing a reference foundation for improving the stability and the safety of the flight controller.
The application provides a semi-physical simulation system based on a flight controller, which comprises a data acquisition card and an upper computer, wherein the data acquisition card is in communication connection with the upper computer; the data acquisition card is used for being in communication connection with the flight controller to be simulated, acquiring control signal data of the flight controller to be simulated in real time and sending the control signal data to the upper computer; the upper computer comprises a processing module, and a simulation model is operated on the upper computer; the simulation model is used for simulating the control signal data to obtain simulation intermediate data; the processing module is used for calculating the simulation intermediate data to obtain a simulation result.
In the technical scheme of the embodiment of the application, real data of the flight controller to be simulated are collected in real time through the data collection card, and simulation calculation can be carried out on the data on an upper computer. The authenticity of the acquired data at the moment radically reduces a large amount of errors brought by modeling, thereby improving the accuracy of simulation results. Therefore, the semi-physical simulation of the flight controller improves the stability and safety of the flight controller on the basis of reducing the experimental cost.
In some embodiments, the data acquisition card is an NI data acquisition card; the upper computer is provided with a LabVIEW program development environment and a Simulink simulation environment, the simulation model is operated in the Simulink simulation environment, and the processing module is operated in the LabVIEW program development environment.
By utilizing the NI data acquisition card to acquire data, the delay of acquiring the data is reduced, thereby improving the real-time performance of the data. In addition, the LabVIEW program development environment and the Simulink simulation environment are respectively installed in the upper computer, so that the coupling degree of each module in the system is reduced, the relative independence of the modules is improved, and the influence of the change of one part in the system on other parts is reduced to the minimum. The real-time property of the data and the low coupling property among the modules improve the efficiency and the precision of the data processing. The efficiency and the precision of data processing are improved, so that the simulation effect is better, the flight controller can be better regulated, and the stability and the safety of the flight controller are further judged.
In some embodiments, the host computer includes a fault simulation processing module, and the host computer is further configured to: generating fault simulation data through a fault simulation processing module; the fault simulation data are processed by calling a simulation model, and simulation intermediate data are obtained; and processing the simulation intermediate data by calling a processing module to obtain a simulation result.
By arranging the fault simulation processing module in the upper computer, the possible faults are simulated under the condition that actual flight is not needed, so that whether the flight controller can make a strain scheme for emergency or not is observed, and the flight controller is regulated according to a simulation result, so that the stability and safety of the flight controller are improved.
In some embodiments, the host computer includes a virtual sensor; the fault simulation processing module comprises: the communication fault simulation unit is used for interrupting the communication connection between the data acquisition card and the upper computer; a sensor fault simulation unit for modifying sensor data of the virtual sensor; and the power system fault simulation unit is used for modifying the control signal data of the flight controller to be simulated.
The fault simulation processing module is divided into different units through fault simulation aiming at different conditions, so that each unit processes the corresponding fault condition. The low coupling between the units in the module improves the efficiency and accuracy of the process.
In some embodiments, the host computer is further configured to: and sending the simulation result to the flight controller to be simulated.
And sending the simulation result to the flight controller to be simulated, so that the flight controller is regulated by using the simulation result. Therefore, the whole simulation process forms a closed-loop simulation, and the flight controller can be continuously regulated, so that the data of a better flight controller are obtained.
In some embodiments, the host computer includes a three-dimensional view module, the host computer further configured to: and carrying out three-dimensional display on the simulation intermediate data through a three-dimensional view module.
The running state of the aircraft is reproduced in real time in a three-dimensional form through the three-dimensional view module, and the three-dimensional synchronous reproduction of the flight attitude, the climate condition and the external environment in the flight process of the aircraft is displayed. Therefore, the control signal data of the flight controller and the parameter conditions of the simulation model can be timely adjusted.
In some embodiments, the system further comprises: the remote controller is in communication connection with the flight controller to be simulated and is used for sending control signal instructions to the flight controller to be simulated.
The remote controller sends a control instruction to the flight controller to be simulated, and the flight controller to be simulated can be regulated in real time.
In some embodiments, the system further comprises: the ground station is in communication connection with the flight controller to be simulated and is used for carrying out GPS positioning and flight track display on the flight controller to be simulated.
The ground station displays the flight condition of the flight controller to be simulated in a two-dimensional form, so that the actual flight condition of the flight controller to be simulated can be observed more intuitively.
In some embodiments, a flight controller-based semi-physical simulation method is applied to a semi-physical simulation system, the method comprising: a data acquisition card in the semi-physical simulation system acquires control signal data of a flight controller to be simulated in real time; the upper computer in the semi-physical simulation system simulates the flight controller by using a simulation model based on control signal data to obtain simulation intermediate data; and a processing module in the upper computer calculates simulation intermediate data to obtain a simulation result.
In the technical scheme of the embodiment of the application, real data of the flight controller to be simulated are collected in real time through the data collection card, and simulation calculation can be carried out on the data on an upper computer. The authenticity of the acquired data at the moment radically reduces a large amount of errors brought by modeling, thereby improving the accuracy of simulation results. Therefore, the semi-physical simulation of the flight controller improves the stability and safety of the flight controller on the basis of reducing the experimental cost.
In some embodiments, a data acquisition card in the semi-physical simulation system acquires control signal data of a flight controller to be simulated in real time; the upper computer in the semi-physical simulation system simulates the flight controller by using a simulation model based on control signal data to obtain simulation intermediate data, and the simulation intermediate data comprises the following steps: a fault simulation processing module in the semi-physical simulation system generates fault simulation data; and simulating the flight controller by using a simulation model based on fault simulation data by an upper computer in the semi-physical simulation system to obtain simulation intermediate data.
The fault simulation processing module is used for generating fault simulation data, and under the condition that actual flight is not needed, possible faults are simulated, so that whether the flight controller can make a strain scheme for an emergency or not is observed, the flight controller is regulated according to a simulation result, and the stability and safety of the flight controller are improved.
To sum up, the beneficial effects of this application lie in:
the NI acquisition card is adopted to acquire data, so that long-time acquisition of flight control data can be realized, data detection of the full motion period of the flight controller to be simulated is realized, and data support is provided for development and optimization of the flight controller system. In addition, the method and the device are integrated into various fault simulation situations, and can be used for testing the reliability of the flight controller to be simulated under different extreme working conditions, so that the semi-physical simulation of the unmanned aerial vehicle is more realistic. Furthermore, the LabVIEW-based upper computer software is simple in structure and independent of the environment for constructing the model, and data can be processed by calling the model, so that different models can be modified conveniently, the system construction period is short, and the experimental cost is saved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of a semi-physical simulation system based on a flight controller according to an embodiment of the present application;
fig. 2 is a diagram of an upper computer monitoring platform according to an embodiment of the present application;
FIG. 3 is a detailed schematic diagram of a semi-physical simulation system based on a flight controller according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a specific data flow direction of a flight controller-based semi-physical simulation system according to an embodiment of the present disclosure;
FIG. 5 is a semi-physical simulation method based on a flight controller according to an embodiment of the present application;
FIG. 6 is a semi-physical fault simulation method based on a flight controller according to an embodiment of the present application;
fig. 7 is a flowchart of a test method of a semi-physical simulation system based on a flight controller according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
It is noted that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.
In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
For easy understanding, the technical proposal provided in the embodiment of the application is introduced to the expert technology involved.
Semi-physical simulation, also known as hardware-in-loop simulation (Hardware in the Loop Simulation), refers to the real-time simulation of accessing a portion of a physical object in a simulation loop of a simulation experiment system. Real-time performance is a necessary premise for semi-physical simulation. The semi-physical simulation has the advantages of greatly improving the product quality, reducing the development wind direction, shortening the development period, reducing the physical test times and the like. From the system point of view, the semi-physical simulation allows part of the physical objects to be accessed into the system, which means that part of the physical objects can be put into the system for investigation, so that the components can be inspected in an environment meeting the overall performance index of the system, and therefore, the semi-physical simulation is a necessary means for improving the reliability and development quality of the system design. The basic principle is that various parameters of the system and the environment are obtained in an imitation computer through calculation of mathematical models of the dynamic system and the environment. These parameters create the measurement environment required by the sensor through the physical effect device, thus constituting a complete closed-loop simulation system.
National Instruments (NI) is a national instruments company. NI helps engineers and scientists in the testing, control, design arts to address a variety of challenges encountered in going from design, prototyping to release. Through ready-made available software, such as LabVIEW, and high-cost-performance modularized hardware, NI helps engineers in various fields to innovate continuously, and development cost is effectively reduced while product appearance time is shortened. The PXI hardware referred to in this application is of the same type as NI company product.
Labview is an abbreviation for Laboratory Virtual Instrument Engineering Workbench, meaning "laboratory virtual instrument engineering platform". In effect, a development environment in which programming is performed with icons, is a complete and predictable program by wiring between icons representing different functional nodes, in this regard, it is quite different from the traditional text-based development languages (e.g., C, C ++, java, and Basic). LabVIEW is not only a programming language, but also an interactive development and operation system that is designed for use by engineers and scientists that require programming. LabVIEW can be used on Windows, mac OS, X, and Linux operating systems. Programs that it develops may run on these platforms, as well as on Microsoft Pocket PC, microsoft Windows CE, palm OS, and many embedded platforms, such as FPGAs, DSPs, and microprocessors. Virtual instruments developed by LabVIEW are user defined instrument functions rather than instrument manufacturers. The combination of a computer, a digital acquisition board and LabVIEW can be changed into a configurable virtual instrument to complete the task set by a user. For ease of use, labVIEW also integrates a large library of functions and subroutines to help accomplish most programming tasks. When using these subfunctions, programming problems such as headache pointer operation, memory allocation, etc. in conventional programming languages can be forgotten. In addition, labVIEW also contains a function library for application-specific Data Acquisition (DAQ), GPIB, serial port, data analysis, data display, data storage and Internet network communication.
VeriStand is also a piece of software of NI, mainly for processing interfaces. NI VeriStand is a piece of ready-to-use real-time test software, and in particular NI VeriStand is a software environment that can efficiently create real-time test applications. A framework is provided that can help a user improve the efficiency of creating real-time test applications. Consider a real-time test system such as a endurance test element, an environmental test system, a hardware-in-loop (HIL) simulation, etc. Depending on the particular application, the user's real-time test software needs to have several functions: hardware I/O interfaces, data logging, stimulus generation, user interfaces, host system communications, execution of control algorithms, analysis routines or simulation models, alarms, alarm response programs, computing channels, etc.
The above tasks and other more tasks can be implemented and optimized in the NI VeriStand framework and can be configured for use at any time. The ready-made function operates in a practical verification architecture, so that the development of the real-time test application program of the user is quickened, the support of the user on the application program is reduced, and the maintenance cost is reduced. Although NI VeriStand provides most of the functionality required for real-time test applications, it can still be customized and extended through LabVIEW and other software environments to ensure that the user's specific application requirements are met.
FlightGear is a type of unmanned aerial vehicle three-dimensional view software. FlightGear is an open-source three-dimensional flight simulation software, provides rich input and output interfaces, can input and output instrument data, control data and the like, and is simple in configuration. Three-dimensional animation can be displayed, various flight conditions such as mountain land, climate, time and the like can be simulated, and an unmanned aerial vehicle model built by the unmanned aerial vehicle can be imported, so that the simulation is more realistic.
The Simulink is a block diagram design environment based on matlab, can be used for modeling, analyzing and simulating various dynamic systems, has quite wide application fields, can be used for simulating and analyzing any system which can be described by a mathematical model in the Simulink, such as various fields of aerodynamics, navigation guidance, communication, electronics, machinery, thermodynamics and the like, and can be used for describing systems which are difficult to solve by analytic methods such as continuous, discrete, nonlinear, time-varying, conditional execution, multi-rate mixing and the like from the mathematical perspective, and can be used for modeling and simulating by the Simulink so as to guide the analysis and design of the system. The method is characterized in that: interactive modeling: providing a large number of function blocks facilitates the user to quickly build a model, which requires only the mouse to drag and drop the function blocks and connect them together. Interactive simulation: the simulation result can be dynamically displayed, and parameters can be modified at any time in the simulation process. Expansion and customization: an open environment is provided that allows a user to expand functionality and the algorithms written in C, fortran can be integrated into the block diagram. Professional model library: a specialized model library is provided for different industries and fields.
The main elements of an Inertial Measurement Unit (IMU) are gyroscopes, accelerometers and magnetometers. The gyroscope can obtain the acceleration of each axis, the accelerometer can obtain the acceleration in the x, y and z directions, and the magnetometer can obtain the information of the surrounding magnetic field. The main work of the inertial measurement unit is to fuse the data of the three elements to obtain more accurate attitude information. Among the pose information obtained, more common pose calculation algorithms include complementary filtering, adaptive complementary filtering, mahonyl algorithm, and kalman filtering.
Fig. 1 is a schematic structural diagram of a semi-physical simulation system based on a flight controller according to an embodiment of the present application. As shown in FIG. 1, semi-physical simulation system 10 includes a data acquisition card 101 and a host computer 102, where data acquisition card 101 is communicatively coupled to host computer 102. The data acquisition card 101 is used for being in communication connection with a flight controller to be simulated, acquiring control signal data of the flight controller to be simulated in real time, and sending the control signal data to the upper computer 102. The upper computer 102 comprises a simulation model 1021 and a processing module 1022, wherein the simulation model 1021 simulates control signal data to obtain simulation intermediate data; the processing module 1022 is configured to calculate the simulation intermediate data, and obtain a simulation result.
In a specific implementation process, the flight controller to be simulated comprises a flight control unit and a data interaction unit, wherein the flight control unit comprises four necessary sensors of an accelerometer, a gyroscope, a magnetometer and a barometer, and the four necessary sensors are provided with a serial peripheral communication interface (Serial Peripheral Interface, SPI). The flight control unit outputs control signal data through the data interaction unit, wherein the control signal data are 4 pulse width modulation signals (PWM) adjusted by the flight control unit. The data acquisition card 101 is an NI data acquisition card, specifically an NI PXIe-6368 counting card, inserted into an NI PXIe-1085 chassis (PXI hardware), and connected with a data interaction unit of the flight controller to be simulated in a wired manner, so as to obtain control signal data of the flight controller to be simulated in real time. A Windows system, namely a PXI system, is installed on the NI PXIe-1085 chassis. It should be noted that, in the embodiment of the present application, the specific model of the NI data acquisition card and the specific model of the chassis are not specifically limited, and in practical application, the specific model may be selected according to practical situations.
The upper computer is a monitoring platform developed based on LabVIEW and is transplanted into a PXIe-1085 chassis. Fig. 2 is a diagram of an upper computer monitoring platform according to an embodiment of the present application, and as shown in fig. 2, the upper computer monitoring platform 20 includes a system configuration module 201, an instruction information input module 202, an attitude information display module 203, and a simulation result display module 204. The system configuration module 201 comprises a data acquisition configuration and a serial port configuration; the instruction information input module 202 includes a remote controller for inputting state quantity and simulating fault; the gesture information display module 203 includes a display position, a display speed, an euler angle, and an angular speed; the simulation result presentation module 204 includes waveform presentation and 3D animation presentation. The overall operation of the system can be monitored in real time by the upper computer monitoring platform 20.
In addition, a LabVIEW program development environment and a Simulink simulation environment are operated in the upper computer, an unmanned aerial vehicle dynamic mathematic simulation model is contained in the Simulink simulation environment, values of speed, position, euler angle and angular velocity can be calculated through simulation on control signal data acquired by a data acquisition card, and the values are concretely triaxial speed information VelE, triaxial position information PosE, triaxial gyroscope information AngRateB, triaxial Euler angle information AngEuler, a DCM matrix of 3 multiplied by 3 and the like, and serve as simulation intermediate data. The LabVIEW program development environment comprises a processing module, and the values of the speed, the position, the Euler angle and the angular speed output by the simulation model can be calculated to obtain the values of the accelerometer, the gyroscope, the magnetometer and the barometer, so that the value of the virtual sensor is obtained and is used as a simulation result. It should be noted that, the simulation intermediate data may also be output as a simulation result, and what the output simulation result is determined according to the actual situation, which is not specifically limited in the present application. In the process module, a computing model is included that includes an Inertial Measurement Unit (IMU) pose solution model and a barometer computing model. The Inertial Measurement Unit (IMU) gesture resolving model is used for calculating parameter values of virtual sensors such as an accelerometer, a magnetometer, a gyroscope and the like by using a common IMU gesture resolving algorithm according to triaxial speed information VelE, triaxial position information PosE, triaxial gyroscope information AngRateB, triaxial Euler angle information AngEuler and the like of simulation intermediate data. It should be noted that, common IMU pose calculation algorithms include, but are not limited to, complementary filtering, adaptive complementary filtering, mahonyl algorithm, kalman filtering, and the like, and the algorithm may be selected according to practical situations, which is not specifically limited in this application. The barometer calculation model is used for calculating according to the relation between air pressure and altitude and the relation between temperature and altitude, and the parameter values of the barometer virtual sensor are determined by the barometer calculation model and the barometer virtual sensor together, and the relation is as follows:
Baro_P＝(1013.25+0.11*H)*100
Baro_T＝25+0.065*H
Where baro_p represents air pressure (Pa), baro_t represents temperature (c), and H represents altitude (m).
The control signal data may be 4 pulse width modulation signals (PWM), 6 pulse width modulation signals (PWM), or 8 pulse width modulation signals (PWM), and is determined according to the actual simulation object. The NI data acquisition card may be other types of NI data acquisition cards, such as NI PXI-6229, etc., besides the NI PXIe-6368 counter card given in the above embodiment, which is not specifically limited in this application.
And an input-output Interface (IO) in the PXI hardware is in butt joint with an interface of a data interaction unit of the flight controller, and an NI MAX software test panel is used for checking whether signals of 4 channels exist or not, and a mode is adopted for counting edges. The PXIe-6368 counter card has two boards with 24-bit counters, which can measure the high and low pulse width times, respectively, using pulse width measurements to calculate the duty cycle.
The upper computer monitoring platform interface is developed based on LabVIEW2020 version, data acquired by a PXI system are acquired by using a DAQ module in LabVIEW, and an unmanned aerial vehicle dynamic mathematical model is called to process the data. The upper computer monitoring platform is communicated with the flight controller through the NI PXIe-6368 counting card, can receive remote measurement data composed of three-axis speed information VelE, three-axis position information PosE, three-axis gyroscope information AngRateB, three-axis Euler angle information AngEuler, sensor data and the like and displayed in real time, and sends control instructions, shutdown and other remote control information to the flight controller to be simulated through a USB (universal serial bus) to serial port line. It should be noted that, in the embodiment of the present application, the development of which version of the upper computer monitoring platform interface is based on LabVIEW is not specifically limited, and in practical application, the development may be selected according to practical situations.
The LabVIEW program development environment and the Simulink simulation environment can be two independent operation environments or can be deployed in the same operation environment. If the environment is a separate running environment, data between the two environments can be mutually transmitted, for example: the upper computer transmits the acquired control signal data to an unmanned aerial vehicle power mathematic simulation model of Simulink through LabVIEW, and then transmits simulation intermediate data output by the model to a processing module in a LabVIEW program development environment for calculation processing to obtain a simulation result. In addition, any other available simulation model may be deployed in the Simulink simulation environment, which is not specifically limited in the embodiments of the present application.
Furthermore, an unmanned aerial vehicle dynamic mathematical simulation model is established based on MATLAB/Simulink2018b, and a four-rotor aircraft model is specifically established, so that the purpose of the model is to analyze the change conditions of the position, the posture and the like of the four-rotor aircraft under the condition of external force and external moment. The specific construction process is as follows: inputting four paths of PWM wave values, and writing other unmanned aerial vehicle parameters through MATLAB scripts; and establishing a dynamics mathematical model of the unmanned aerial vehicle according to the Newton-Euler equation, wherein the input of the dynamics mathematical model is an external force and an external torque, and the output is the speed, the position, the Euler angle and the angular speed. It should be noted that, in the embodiment of the present application, specific limitation is not made on which version of MATLAB/Simulink is based on which model of the unmanned aerial vehicle dynamic mathematical simulation model is built, and specific limitation is not made on the model of the aircraft with several rotors, and in practical application, the model can be selected according to practical situations.
The established dynamics mathematical model can be used for generating dll files and importing the dll files into LabVIEW. The dll file generation environment is built as follows: downloading LabVIEW, veriStand, MATLAB and Visual Studio and other software, wherein the version used by the system is LabVIEW2020, veriStand2020r4, MATLAB2018b and Visual Studio2010; the input and output of the four-rotor-wing motion dynamics module are replaced by VeriStand Blocks modules NIIn and NIOut on the Simulink; selecting Model Configuration Parameters to enter a model parameter setting interface; lever setting: stop time is set to inf (infinite time length); type is set to fixed-step (fixed step size 0.001); code generation setting: system target file the desired niveristand. It can be known that any dynamics mathematical model can be used for generating dll files according to the method, and when LabVIEW needs to call different dynamics models, the dll files can be replaced, so that the model can be modified conveniently, and the system construction time is saved.
In the technical scheme of the embodiment of the application, real data of the flight controller to be simulated are collected in real time through the data collection card, and simulation calculation can be carried out on the data on an upper computer. The authenticity of the acquired data at the moment radically reduces a large amount of errors brought by modeling, thereby improving the accuracy of simulation results. Therefore, the semi-physical simulation of the flight controller improves the stability and safety of the flight controller on the basis of reducing the experimental cost.
By utilizing the NI data acquisition card to acquire data, the delay of acquiring the data is reduced, thereby improving the real-time performance of the data. In addition, the LabVIEW program development environment and the Simulink simulation environment are respectively installed in the upper computer, so that the coupling degree of each module in the system is reduced, the relative independence of the modules is improved, and the influence of the change of one part in the system on other parts is reduced to the minimum. The real-time property of the data and the low coupling property among the modules improve the efficiency and the precision of the data processing. The efficiency and the precision of data processing are improved, so that the simulation effect is better, the flight controller can be better regulated, and the stability and the safety of the flight controller are further improved.
In some embodiments, the host computer includes a fault simulation processing module, and the host computer is further configured to: generating fault simulation data through a fault simulation processing module; the fault simulation data are processed by calling a simulation model, and simulation intermediate data are obtained; and processing the simulation intermediate data by calling a processing module to obtain a simulation result. The upper computer comprises a virtual sensor; the fault simulation processing module comprises: the communication fault simulation unit is used for interrupting the communication connection between the data acquisition card and the upper computer; a sensor fault simulation unit for modifying sensor data of the virtual sensor; and the power system fault simulation unit is used for modifying the control signal data of the flight controller to be simulated.
In a specific implementation process, the fault simulation data is interference data to control signal data or false data of the sensor. The communication fault simulation unit is used for simulating whether the aircraft can fly according to a preset strategy when the remote control signal is in disconnection or is wrong; the sensor simulation unit is used for simulating how the aircraft responds when the sensor is interfered or the data is intermittent; the power system fault simulation unit is used for simulating the coping capacity of the aircraft when the power system of the aircraft is partially effective or the electric quantity is insufficient.
A software interface of a fault simulation processing module is reserved in an upper computer developed based on LabVIEW, and the following fault situations can be simulated:
(1) Communication failure simulation unit: the communication connection between the data acquisition card and the upper computer is interrupted, in particular to the communication connection between the NI PXIe-6368 counting card and the upper computer. For example, the NI PXIe-6368 counter card is pulled out from the NI PXIe-1085 chassis, and control signal data is randomly input into the upper computer interface.
(2) Sensor fault simulation unit: and modifying the sensor data of the virtual sensor, in particular modifying the sensor data on an upper computer interface.
(3) A power system fault simulation unit: control signal data of the flight controller to be emulated is modified. Specifically, the PWM signals are modified at the host computer interface such that one or more of the PWM signals fail.
It should be noted that, in order to schematically illustrate the above-mentioned fault situations, it should be understood that other possible fault situations exist, such as: the GPS is uncontrolled in fixed point, free falling in the air and the like, and faults of which situation can be determined to be simulated according to actual simulation conditions, so that the method is not particularly limited.
By arranging the fault simulation processing module in the upper computer, the possible faults are simulated under the condition that actual flight is not needed, so that whether the flight controller can make a strain scheme for emergency or not is observed, and the flight controller is regulated according to a simulation result, so that the stability and safety of the flight controller are improved. In addition, aiming at fault simulation of different situations, the fault simulation processing module is divided into different units, so that each unit processes the corresponding fault situation. The low coupling between the units in the module improves the efficiency and accuracy of the process.
In some embodiments, the host computer is further configured to: and sending the simulation result to the flight controller to be simulated.
In the specific implementation process, the values of the accelerometer, the gyroscope, the magnetometer, the barometer and the like are fed back to the flight controller to be simulated through serial ports, so that the flight controller is regulated. It should be noted that, in addition to the data transmission through the serial port line, the data transmission may also be performed through wireless communication, which is not specifically limited in this application.
And sending the simulation result to the flight controller to be simulated, so that the flight controller is regulated by using the simulation result. Therefore, the whole simulation process forms a closed-loop simulation, and the flight controller can be continuously regulated, so that the data of a better flight controller are obtained.
In some embodiments, the host computer includes a three-dimensional view module, the host computer further configured to: and carrying out three-dimensional display on the simulation intermediate data through a three-dimensional view module.
In the specific implementation process, the data such as the speed, the position, the Euler angle, the angular speed and the like output by the simulation model can be packaged in NI Veristand and sent to the FlghtGear through an external interface, so that the online observation of the three-dimensional motion is realized. The VeriStand of the application is equivalent to a connector, labVIEW and FlightGear are connected, and the communication between LabVIEW and VeriStand can be realized through an application programming interface (Application Programming Interface, API) based on NET provided by NI VeriStand, and VeriStand is connected with FlightGear through a self-defined external interface, so that the FlightGear displays the data output by the simulation model in a three-dimensional manner.
The running state of the aircraft is reproduced in real time in a three-dimensional form through the three-dimensional view module, and the three-dimensional synchronous reproduction of the flight attitude, the climate condition and the external environment in the flight process of the aircraft is displayed. Therefore, the control signal data of the flight controller and the parameter conditions of the simulation model can be timely adjusted.
In some embodiments, the system further comprises: the remote controller is in communication connection with the flight controller to be simulated and is used for sending control signal instructions to the flight controller to be simulated.
In the specific implementation process, the remote controller sends instructions such as accelerator quantity, rolling angle, pitch angle, flight mode and the like to the flight controller to be simulated through the receiver, so that the flight controller to be simulated is controlled. It should be noted that the receiver only functions as a middleware, and in the actual implementation process, the middleware may be used to perform data transmission, or a communication connection may be directly established between the remote controller and the aircraft to be emulated, which is only an example and not particularly limited in this application. In addition, the remote controller can send out any feasible control command except the command to the flight controller to be simulated according to the actual situation, and the control command is used for controlling various flight processes of the aircraft to be simulated.
The remote controller sends a control instruction to the flight controller to be simulated, and the flight controller to be simulated can be regulated in real time.
In some embodiments, the system further comprises: the ground station is in communication connection with the flight controller to be simulated and is used for carrying out GPS positioning and flight track display on the flight controller to be simulated.
In the specific implementation process, the ground station communicates with the flight controller to be simulated through the radio station, and the flight controller to be simulated sends the data of the accelerometer value, the gyroscope value, the magnetometer value, the barometer value and the GPS of the virtual sensor to the ground station for GPS positioning and flight track display. It should be noted that the radio station is also an alternative object, and the specific process is referred to the above embodiment, which is not described herein.
The ground station displays the flight condition of the flight controller to be simulated in a two-dimensional form, so that the actual flight condition of the flight controller to be simulated can be observed more intuitively.
Fig. 3 is a detailed structural schematic diagram of a semi-physical simulation system based on a flight controller according to an embodiment of the present application. As shown in fig. 3, wherein the dotted line represents a wireless connection and the solid line represents a wired connection. The semi-physical simulation system includes a software on loop 30 and a hardware on loop 31.
The software includes a multi-rotor simulation model 301 in the loop, and a simulation system is built in Simulink through a modular programming language for dynamic system modeling. The ground station 302 is used for performing sensor calibration, parameter adjustment and other initialization operations on the aircraft controller 313 before taking off, and receiving the flight state of the aircraft controller 313 and sending control instructions in real time through the radio station 316 during the flight. The upper computer monitoring platform 303 is configured to provide a monitoring interface, and may link the graphical development software with the Simulink simulation environment.
The hardware-in-the-loop 31 includes a remote control 311 for issuing control instructions from a ground control personnel to a receiver 312 to effect flight maneuvers by a flight control 313. And a receiver 312, configured to acquire instruction information sent by the remote controller 311 and send the instruction information to the flight controller 313. And the flight controller 313 is used for acquiring the command of the remote controller 311 and calculating the control command of the output power system to realize the flight control of the multi-rotor aircraft. The data acquisition card 314 is used for acquiring the pulse width modulation signal output after the flight controller 313 mediates the instruction information. The serial port line 315 is configured to obtain an instruction sent by the upper computer monitoring platform 303 and send the instruction to the flight controller 313. A radio station 316 for acquiring sensor signals of flight controller 313 and transmitting to ground station 302.
Fig. 4 is a schematic diagram of a specific data flow direction of a semi-physical simulation system based on a flight controller according to an embodiment of the present application. As shown in fig. 4, a remote controller 401 sends a control signal to a flight controller 402, and after being adjusted, the control signal is sent to an upper computer monitoring platform 405 for real-time display through a data acquisition card 403, and three-dimensional display is performed through real-time monitoring of a gesture monitor 408 and a three-dimensional view 407. In addition, the upper computer monitoring platform 405 performs two-way communication with the unmanned aerial vehicle mathematical model, performs fault input through the fault simulation 409, and finally sends the processed data to the flight controller 402 through the serial port line 404 to adjust the data. In addition, flight controller 402 is communicatively coupled to ground station 412 via radio station 410 and transmits data of flight controller 402 to ground station 412 for dynamic monitoring via dynamic monitoring 411 and positioning via GPS positioning 413.
Fig. 5 is a schematic diagram of a semi-physical simulation method based on a flight controller according to an embodiment of the present application, as shown in fig. 5, in some embodiments, the semi-physical simulation method based on a flight controller is applied to a semi-physical simulation system, and the method includes:
In the specific implementation process, the semi-physical simulation refers to real-time simulation of accessing part of physical objects in a simulation loop of a simulation experiment system. In this embodiment, the flight controller to be simulated is added as a physical object to the simulation system to form a semi-physical simulation. And acquiring control signal data of the flight controller to be simulated in real time by using a data acquisition card in the semi-physical simulation system. The data acquisition card is an NI data acquisition card, in particular an NI PXIe-6368 counting card, and the control signal data are 4 pulse width modulation signals (PWM) regulated by a flight control unit of the flight controller to be simulated. It should be noted that, the control signal data may be 4 pulse width modulation signals (PWM), or may be 6 pulse width modulation signals (PWM), or may be 8 pulse width modulation signals (PWM), which are not specifically limited in the embodiment of the present application, and may be determined according to practical situations.
In a specific implementation process, the simulation model is an unmanned aerial vehicle dynamic mathematic simulation model developed based on a Simulink simulation environment, and simulation intermediate data refer to values of speed, position, euler angle and angular acceleration, specifically three-axis speed information VelE, three-axis position information PosE, three-axis gyroscope information AngRateB, three-axis Euler angle information AngEuler, a 3×3 DCM matrix and the like. The upper computer in the semi-physical simulation system is utilized to simulate the flight controller by using a simulation model based on the control signal data, so as to obtain simulation intermediate data, and particularly, the upper computer is used for carrying out simulation processing on the control signal data acquired from the data acquisition card by calling the simulation model, so as to output the simulation intermediate data. It should be noted that, please refer to the above embodiment for the construction of the upper computer, and the description is omitted here. The simulation model may be other types of simulation models developed based on the Simulink simulation environment, so that the corresponding simulation model can be developed according to actual conditions, which is not particularly limited in the application.
In the specific implementation process, the processing module in the upper computer is utilized to calculate the simulation intermediate data, and a simulation result is obtained. The upper computer developed based on LabVIEW comprises a processing module, and the values of the speed, the position, the Euler angle and the angular acceleration output by the simulation model can be calculated to obtain the values of the accelerometer, the gyroscope, the magnetometer and the barometer, so that the value of the virtual sensor is obtained and is used as a simulation result.
In the technical scheme of the embodiment of the application, real data of the flight controller to be simulated are collected in real time through the data collection card, and simulation calculation can be carried out on the data on an upper computer. The authenticity of the acquired data at the moment radically reduces a large amount of errors brought by modeling, thereby improving the accuracy of simulation results. Therefore, the semi-physical simulation of the flight controller improves the stability and safety of the flight controller on the basis of reducing the experimental cost.
FIG. 6 is a schematic diagram of a semi-physical fault simulation method based on a flight controller according to an embodiment of the present application, as shown in FIG. 6, in some embodiments, a data acquisition card in a semi-physical simulation system acquires control signal data of a flight controller to be simulated in real time; the upper computer in the semi-physical simulation system simulates the flight controller by using a simulation model based on control signal data to obtain simulation intermediate data, and the simulation intermediate data comprises the following steps:
In step 601, fault simulation data is generated.
In the specific implementation process, generating fault simulation data by using a fault simulation processing module in the semi-physical simulation system; wherein the fault simulation data comprises: communication fault data, sensor fault data, power system fault data, and the like. The fault simulation data is generated specifically as follows: the communication connection between the data acquisition card and the upper computer is interrupted, in particular to the communication connection between the NI PXIe-6368 counting card and the upper computer, for example, the NI PXIe-6368 counting card is pulled out from the NI PXIe-1085 chassis, and control signal data is randomly input into an interface of the upper computer. Or modifying sensor data of the virtual sensor, in particular modifying sensor data at the upper computer interface. Or modifying the control signal data of the flight controller to be simulated, in particular modifying the PWM signals at the upper computer interface, so that one or more of the PWM signals have faults. It should be noted that, in order to schematically give the above fault simulation data, it should be understood that other types of fault simulation data exist, such as: the GPS is uncontrolled in fixed point, free falling in the air, and the like, and the application is not particularly limited.
In a specific implementation process, the control signal data in step 502 is replaced with fault simulation data to simulate, specifically, an upper computer in a semi-physical simulation system is utilized to simulate the flight controller by using a simulation model based on the fault simulation data, so as to obtain simulation intermediate data. The specific simulation process is referred to the above embodiments, and will not be described herein.
The fault simulation processing module is used for generating fault simulation data, and under the condition that actual flight is not needed, possible faults are simulated, so that whether the flight controller can make a strain scheme for an emergency or not is observed, the flight controller is regulated according to a simulation result, and the stability and safety of the flight controller are improved.
Fig. 7 is a flowchart of a test method of a semi-physical simulation system based on a flight controller according to an embodiment of the present application. The test procedure is set forth in connection with fig. 7.
step 705, including step 7051, performing task management, and monitoring the flight state of the unmanned aerial vehicle through an upper computer monitoring station; injecting PWM wave signals into the unmanned aerial vehicle through an upper computer monitoring station to finish fault injection/shutdown;
In the embodiments provided herein, it should be understood that the disclosed systems and methods may be implemented in other ways. The system embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions in actual implementation, and e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The present application provides a semi-physical simulation system and method based on a flight controller, which is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. The semi-physical simulation system based on the flight controller is characterized by comprising a data acquisition card and an upper computer, wherein the data acquisition card is in communication connection with the upper computer;
the data acquisition card is used for being in communication connection with the flight controller to be simulated, acquiring control signal data of the flight controller to be simulated in real time and sending the control signal data to the upper computer;
the upper computer comprises a processing module, and a simulation model is operated on the upper computer; the simulation model is used for simulating the control signal data to obtain simulation intermediate data; the processing module is used for calculating the simulation intermediate data to obtain a simulation result.
2. The system of claim 1, wherein the data acquisition card is an NI data acquisition card; the upper computer is provided with a LabVIEW program development environment and a Simulink simulation environment, the simulation model is operated in the Simulink simulation environment, and the processing module is operated in the LabVIEW program development environment.
3. The system of claim 1, wherein the host computer comprises a fault simulation processing module, the host computer further configured to:
Generating fault simulation data through the fault simulation processing module;
processing the fault simulation data by calling the simulation model to obtain simulation intermediate data;
and processing the simulation intermediate data by calling the processing module to obtain a simulation result.
4. The system of claim 3, wherein the host computer comprises a virtual sensor; the fault simulation processing module comprises:
the communication fault simulation unit is used for interrupting the communication connection between the data acquisition card and the upper computer;
a sensor fault simulation unit for modifying sensor data of the virtual sensor;
and the power system fault simulation unit is used for modifying the control signal data of the flight controller to be simulated.
5. The system of claim 1, wherein the host computer is further configured to:
and sending the simulation result to the flight controller to be simulated.
6. The system of claim 1, wherein the host computer comprises a three-dimensional view module, the host computer further configured to:
and carrying out three-dimensional display on the simulation intermediate data through the three-dimensional view module.
7. The system of claim 1, wherein the system further comprises:
and the remote controller is in communication connection with the flight controller to be simulated and is used for sending a control signal instruction to the flight controller to be simulated.
8. The system of any one of claims 1-7, wherein the system further comprises:
the ground station is in communication connection with the flight controller to be simulated and is used for carrying out GPS positioning and flight track display on the flight controller to be simulated.
9. A semi-physical simulation method based on a flight controller, applied to the semi-physical simulation system of any one of claims 1 to 8, wherein the method comprises the following steps:
the data acquisition card in the semi-physical simulation system acquires control signal data of a flight controller to be simulated in real time;
the upper computer in the semi-physical simulation system simulates the flight controller by using a simulation model based on the control signal data to obtain simulation intermediate data;
and a processing module in the upper computer calculates the simulation intermediate data to obtain a simulation result.
10. The method of claim 9, wherein the data acquisition card in the semi-physical simulation system acquires control signal data of the flight controller to be simulated in real time; the upper computer in the semi-physical simulation system simulates the flight controller by using a simulation model based on the control signal data to obtain simulation intermediate data, and the simulation intermediate data comprises the following steps:
A fault simulation processing module in the semi-physical simulation system generates fault simulation data;
and the upper computer in the semi-physical simulation system simulates the flight controller by using a simulation model based on the fault simulation data to obtain simulation intermediate data.
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