CN202453676U - Semi-physical simulation platform of flying robot control system - Google Patents
Semi-physical simulation platform of flying robot control system Download PDFInfo
- Publication number
- CN202453676U CN202453676U CN2011205027125U CN201120502712U CN202453676U CN 202453676 U CN202453676 U CN 202453676U CN 2011205027125 U CN2011205027125 U CN 2011205027125U CN 201120502712 U CN201120502712 U CN 201120502712U CN 202453676 U CN202453676 U CN 202453676U
- Authority
- CN
- China
- Prior art keywords
- flying robot
- flying
- control system
- robot
- semi
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a semi-physical simulation platform of a flying robot control system. The semi-physical simulation platform comprises a flying robot flying posture display/visual display computer, a flying robot dynamic model simulation computer, a flying robot airborne control system, a radio remote controller and a flying robot ground monitoring computer. The semi-physical simulation platform of the flying robot control system can be used for simultaneously debugging software and hardware system as well as a control algorithm of a flying robot online, so as to furthest approach an actual working state of the flying robot during working; through simulation experiment, the correctness of a control signal can be directly verified by an executing steering engine in the flying robot airborne control system; the semi-physical simulation platform of the flying robot control system provided by the utility model has the advantages of stronger generality, stronger systematicness, stronger operability and stronger display, and is simply and conveniently applied to semi-physical simulation experiments of various flying robots; repeated design of the system is avoided; and the testing work for new function expansion of the system is greatly simplified.
Description
Technical field
The utility model relates to a kind of semi-physical simulation platform of flying robot's control system, specifically a kind of flying robot's analogue system and control method thereof that combines based on software, hardware configuration.
Background technology
In order to satisfy the demand that the flying robot verifies in control system software design and gordian technique in earlier stage, Chinese scholars has made up various flying robots' to different application software emulation (Software in theloop simulation, SILS) platforms.And single software emulation platform can not satisfy the demand of flying robot's control system to control algolithm, systemic-function and coupling system hardware debug and research.
Semi-physical simulation claims that also (Hardware in the loop simulation HILS), has extremely important meaning in the design of flying machine robot system and R&D process at loop simulation for half in kind, hardware.Especially for flying robot's control system, the characteristics such as Unpredictability that have high system complexity, many control variable property and bring by factors such as environment, weather.Therefore, the simulated environment of setting up to flying robot's control system is the complex design control system, studies its gordian technique, realizes stablizing control strategy and the indispensable important means of each function of system.
It is distinctive a kind of emulation mode in the research and development flying robot control system process that the flying robot controls semi-physical system, and it utilizes flying robot's kinetic model simulation computer to combine flying robot's on-board controller system in kind to set up the semi-physical simulation platform.
Different with the software emulation system is; Semi-physical system places the emulation closed loop with soft, the hardware system of real flying robot's on-board controller; Flying robot's full flight course, full state of flight are carried out emulation; Thereby find and revise the leak that flying robot's control system is soft, hardware exists in time in the real work environment, improve the reliability of control system effectively.At present, receive the semi-physical system that Suo Zhongshang does not find relevant flying robot in related patent U.S. Patent No..
The utility model content
There is this technological gap that to realize control algolithm, systemic-function and coupling system hardware debug to the existing software emulation platform, proposed the semi-physical system of flying robot's control system for the flying robot.
The technical scheme that the utility model adopts is: a kind of flying robot's control system semi-physical simulation platform comprises
Flying robot's flight attitude demonstration/what comes into a driver's shows computing machine; Be connected with flying robot's kinetic model simulation computer; Be used to realize that the three-dimensional simulation of flying robot flying area, the humane buildings of geographical terrain, barrier and real-time/virtual weather condition shows, and the 3 D stereo of each flying robot's flight attitude shows;
Flying robot's kinetic model simulation computer; There is flying robot's kinetic model; Be connected with flying robot's aircraft mounted control system; Be used for according to each flying robot's kinetic model real-time resolving and generate a series of virtual sensor device signals, realize flying robot's autonomous closed-loop control;
Flying robot's aircraft mounted control system; With flying robot's kinetic model simulation computer; Radio remote controller is connected with flying robot's ground monitoring computing machine; Be used to accomplish the reception of the virtual-sensor device signal that flying robot's kinetic model simulation computer is sent, will pass through the execution steering wheel control signal that obtains after control algolithm is calculated and send to robot dynamics's model emulation computing machine;
Radio remote controller is connected with flying robot's aircraft mounted control system, realizes the fly switching of function of flying robot, and control flying robot load equipment is in addition accomplished different air objectives and various aerial mission;
Flying robot's ground monitoring computing machine is connected with flying robot's aircraft mounted control system; Be used to realize the monitoring of flying robot's state of flight and flying robot's health status; To the online management of flying robot's aerial mission, the switching of flying robot's offline mode, and combine plane map that flying robot's geographic position is shown in real time.
Said flying robot's aircraft mounted control system comprises:
Flying robot's on-board controller is connected with the execution steering wheel with flying robot's ground monitoring computing machine;
Flying robot's duty indicating module is made up of the bright LED of high-power height of three pieces of different colours, is used for indication and distinguishes residing different working of flying robot and state of flight;
Carry out steering wheel, send and carry out the steering wheel control signal to robot dynamics's model emulation computing machine;
Wireless receiving module is wireless receiving module.
Said flying robot's on-board controller comprises:
The navigation sensor navigation information is handled the unit, and with the primary data information (pdi) of virtual sensor output, the navigation information after it is carried out will handling after filtering is calculated sends to control algolithm processing unit and flying quality storage unit;
The control algolithm processing unit receives the navigation information after the navigation sensor navigation information is handled cell processing, and control signal is sent to the execution steering wheel through the serial ports expansion unit;
The flying quality storage unit receives the data of handling unit and control algolithm processing unit from the navigation sensor navigation information; Be used to store navigation data, control signal, flying robot's duty and the required data of post analysis after original navigation data, the Filtering Processing;
The serial ports expansion unit carries out the real-time information exchange through RS-232 serial communication bus and flying robot's ground monitoring computing machine and flying robot's kinetic model simulation computer, and accomplishes writing of control algolithm with the ISP pattern;
System's power supply and switch element are given the power supply of flying robot's on-board controller.
Said flying robot's aircraft mounted control system and flying robot's kinetic model simulation computer carry out serial communication;
Said flying robot's aircraft mounted control system is connected with flying robot's ground monitoring computing machine through flying robot's on-board controller and realizes serial communication.
Said virtual sensor device signal comprises: flying robot's gps coordinate, flight attitude angle, three overall Flight Acceleration, three overall flying speeds, flight attitude angular rate of change.
The utlity model has following beneficial effect and advantage:
1. different with simple flying robot's software emulation platform; Flying robot's control system semi-physical simulation platform can carry out on-line debugging to flying robot's software, hardware system and control algolithm simultaneously, the actual working state of farthest working near the flying robot;
2. emulation experiment can be through the correctness of access control signal directly of the execution steering wheel in flying robot's aircraft mounted control system;
3. the 3-D display of flying robot's flight attitude demonstration/what comes into a driver's demonstration computing machine also can be verified flying robot's the duty and the correctness of control signal auxiliaryly;
4. have stronger versatility and stronger systematicness; And the operability of the utility model, displaying property are all stronger; Be applied to easily avoid the design iterations of system in various flying robots' the semi-physical simulation experiment, simplified the test job of the new function expansion of system simultaneously greatly.
Description of drawings
Fig. 1 is the structured flowchart of the utility model;
Fig. 2 is flying robot's aircraft mounted control system structured flowchart in the utility model;
Fig. 3 is flying robot's on-board controller structured flowchart in the utility model;
Fig. 4 is flying robot's ground monitoring computing machine and flying robot's aircraft mounted control system wireless telecommunications block diagram in the utility model;
Fig. 5 is the utility model flying robot control system semi-physical simulation method step synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing the embodiment of the utility model is explained.
Simulation and formation packet through to sensor informations such as accelerometer, gyros send to flying robot's on-board controller 3-1; The controlled quentity controlled variable of after control algolithm, producing and realize function, accomplishing aerial mission; Form packet and send to flying robot's kinetic model; Produce corresponding control effect; And use flying robot's flight attitude demonstration/what comes into a driver's to show the 3-D display of computing machine 1 realization flying robot and flight environment of vehicle thereof, and then accomplish the control algolithm design and the policy checking of flying robot's flight control system; Simultaneously can the flying robot be carried out steering wheel 3-3 and link to each other with flying robot's on-board controller 3-1, thus the control signal that produced of access control algorithm and the correctness of execution steering wheel response actions intuitively.
As shown in Figure 1, the utility model flying robot control system semi-physical simulation platform comprises: flying robot's flight attitude demonstration/what comes into a driver's shows computing machine 1, flying robot's kinetic model simulation computer 2, flying robot's aircraft mounted control system 3, radio remote controller 4 and flying robot's ground monitoring computing machine 5.
Flying robot's kinetic model simulation computer 2 shows that through network adapter and flying robot's flight attitude demonstration/what comes into a driver's computing machine links to each other; Flying robot's kinetic model simulation computer 2 links to each other with flying robot's aircraft mounted control system 3RS-232 serial ports through the RS-232 serial ports, sends the sensor information that calculates through flying robot's kinetic model; Flying robot's kinetic model simulation computer 2 links to each other with flying robot's aircraft mounted control system 3RS-232 serial ports through the RS-232 serial ports, receives the execution steering wheel 3-3 control signal of being sent by flying robot's aircraft mounted control system 3; Flying robot's aircraft mounted control system 3 is communicated by letter with radio remote controller 4 through the 2.4GHz radio signal; Flying robot's aircraft mounted control system 3 and flying robot's ground monitoring computing machine 5 link to each other through the RS-232 serial ports.
Flying robot's flight attitude demonstration/what comes into a driver's shows computing machine 1, adopts (Lenovo) Qi Tian M7150 of association type computing machine, carries out three-dimensional and shows in real time.The demonstration of flying robot's flight attitude demonstration/what comes into a driver's is calculated and is carried out network communication through TCP/IP network communication protocol and flying robot's kinetic model simulation computer 2; Gps coordinate and flight attitude angle (roll angle, the angle of pitch and the crab angle) of obtaining the flying robot who calculates send the Flightgear simulation software to, realize flying robot's the state of flight and the 3-D display of flight environment of vehicle.
Flying robot's kinetic model simulation computer 2 adopts (Lenovo) Qi Tian M7150 of association type computing machine, and the additional special PCI high speed serial communication of the Supreme Being card of installing.In the Matlab/Simulink environment through the iterative computation of flying robot's kinetic model being realized the simulation of sensor information (gps coordinate of row robot, flight attitude angle, three overall Flight Acceleration, three overall flying speeds, flight attitude angular rate of change); And form the data communication message, through serial ports the sensor information that generates is sent to flying robot's on-board controller 3-1; Simultaneously; Flying robot's kinetic model simulation computer 2 receives the control signal message of the execution steering wheel 3-3 that flying robot's on-board controller 3-1 sends through serial ports; Resolve the back and get into the calculating of flying robot's kinetic model, accomplish closed-loop control the flying robot.
As shown in Figure 2, flying robot's aircraft mounted control system 3 also comprises flying robot's on-board controller 3-1, flying robot's duty indicating module 3-2 and carries out steering wheel 3-3.Flying robot's on-board controller 3-1 adopts two ARM core processors, realizes that in conjunction with complex programmable preface logic processor (CPLD) A/D of navigation sensor signal, radio remote controller 4 signals, D/A change sampling.Cooperation can be expanded external interface, like serial communication interface, SD card access hole, accomplish filtering, the control algolithm of original navigation data execution, with the serial communication of flying robot's kinetic model simulation computer 2 and the storage of crucial flying quality.Flying robot's duty indicating module 3-2 is made up of the bright LED of high-power height of three pieces of different colours; Degree of stability according to residing different operating state of flying robot and flying machine human body; Flying robot's duty indicating module 3-2 can light different LED combination and flashing mode, indicates and distinguish residing different working of flying robot and state of flight with this.Carry out the control signal that steering wheel 3-3 receives flying robot's on-board controller 3-1, drive the action that steering wheel is realized the flying robot.
Radio remote controller 4 adopts professional model plane radio remote controller JR PROPO DSX12X, with the 2.4GHz channel communication, is aided with 12 tunnel control channels and function button, can realize the complicated flying robot control of load equipment in addition.Simultaneously can store 50 remote configuration models, make things convenient for telepilot and receiver to frequency.
Flying robot's ground monitoring computing machine 5 adopts and grinds magnificent ARK-3420 industrial computer, and two displays up and down are housed; Four triple bond remote-control levers of two technical grades about being furnished with; Built-in power UPS design has outage and overload protection breakpoint in use, does not influence user's operation.Overload in use occurs, restart system's operate as normal behind the power supply.Realize the monitoring of flying robot's flight attitude, flying speed, Flight Acceleration and flying robot's health status through serial communication interface and the airborne control of flying robot.Realize the online management of flying robot's aerial mission, the switching of flying robot's offline mode through flying robot's ground monitoring computing machine 5 simultaneously, and combine plane map that flying robot's geographic position is shown in real time.Flying robot's ground monitoring computing machine 5 can also adopt wireless mode with the communication of flying robot's aircraft mounted control system 3.As shown in Figure 4, the 900MHz wireless data transfer module that adopts Freewave to produce replaces serial communication.This mode provides the method for test flight robot flying robot's ground monitoring computing machine 5 and ability to communicate of flying robot's aircraft mounted control system 3 in the over the horizon aerial mission, has ensured the completion fully of aerial mission.Be convenient to test in early stage and the on-line monitoring when accomplishing the over the horizon task to the flying robot.
As shown in Figure 5, the emulation mode of the utility model flying robot control system semi-physical simulation platform may further comprise the steps:
1. initialization flight environment of vehicle and display view angle;
2. flying robot's on-board controller control algolithm loads;
3. beginning emulation;
4. flying robot's kinetic model simulation computer resolves sensor information, forms message, and serial ports outputs to flying robot's aircraft mounted control system;
5. flying robot's on-board controller calculates and carries out the steering wheel control signal, forms message, and serial ports output sends to flying robot's kinetic model simulation computer, carries out next step iterative computation; And show that through flying robot's flight attitude demonstration/what comes into a driver's computing machine shows in real time; Simultaneously, the execution steering wheel control signal of calculating gained will send to the analog quantity form to be carried out steering wheel and controls;
6. carry out step 4 after flying robot's kinetic model simulation computer iterative computation.
Claims (5)
1. flying robot's control system semi-physical simulation platform is characterized in that: comprise
Flying robot's flight attitude demonstration/what comes into a driver's shows computing machine (1); Be connected with flying robot's kinetic model simulation computer (2); Be used to realize that the three-dimensional simulation of flying robot flying area, the humane buildings of geographical terrain, barrier and real-time/virtual weather condition shows, and the 3 D stereo of each flying robot's flight attitude shows;
Flying robot's kinetic model simulation computer (2); There is flying robot's kinetic model; Be connected with flying robot's aircraft mounted control system (3); Be used for according to each flying robot's kinetic model real-time resolving and generate a series of virtual sensor device signals, realize flying robot's autonomous closed-loop control;
Flying robot's aircraft mounted control system (3); With flying robot's kinetic model simulation computer (2); Radio remote controller (4) is connected with flying robot's ground monitoring computing machine (5); Be used for accomplishing the reception of the virtual-sensor device signal that flying robot's kinetic model simulation computer (2) is sent, will pass through the execution steering wheel control signal that obtains after control algolithm is calculated and send to robot dynamics's model emulation computing machine (2);
Radio remote controller (4) is connected with flying robot's aircraft mounted control system (3), realizes the fly switching of function of flying robot, and control flying robot load equipment is in addition accomplished different air objectives and various aerial mission;
Flying robot's ground monitoring computing machine (5) is connected with flying robot's aircraft mounted control system (3); Be used to realize the monitoring of flying robot's state of flight and flying robot's health status; To the online management of flying robot's aerial mission, the switching of flying robot's offline mode, and combine plane map that flying robot's geographic position is shown in real time.
2. flying robot's control system semi-physical simulation platform according to claim 1, it is characterized in that: said flying robot's aircraft mounted control system (3) comprising:
Flying robot's on-board controller (3-1) is connected with execution steering wheel (3-3) with flying robot's ground monitoring computing machine (5);
Flying robot's duty indicating module (3-2) is made up of the bright LED of high-power height of three pieces of different colours, is used for indication and distinguishes residing different working of flying robot and state of flight;
Carry out steering wheel (3-3), send and carry out the steering wheel control signal to robot dynamics's model emulation computing machine (2);
Wireless receiving module (3-4) is wireless receiving module.
3. flying robot's control system semi-physical simulation platform according to claim 2, it is characterized in that: said flying robot's on-board controller (3-1) comprising:
The navigation sensor navigation information is handled unit (3-1-1), and with the primary data information (pdi) of virtual sensor output, the navigation information after it is carried out will handling after filtering is calculated sends to control algolithm processing unit (3-1-2) and flying quality storage unit (3-1-3);
Control algolithm processing unit (3-1-2) receives through the navigation sensor navigation information and handles the navigation information after unit (3-1-1) is handled, and control signal is sent to execution steering wheel (3-1-3) through serial ports expansion unit (3-1-4);
Flying quality storage unit (3-1-3) receives the data of handling unit (3-1-1) and control algolithm processing unit (3-1-2) from the navigation sensor navigation information; Be used to store navigation data, control signal, flying robot's duty and the required data of post analysis after original navigation data, the Filtering Processing;
Serial ports expansion unit (3-1-4) carries out the real-time information exchange through RS-232 serial communication bus and flying robot's ground monitoring computing machine (5) and flying robot's kinetic model simulation computer (2), and accomplishes writing of control algolithm with the ISP pattern;
System's power supply and switch element (3-1-5) are given flying robot's on-board controller (3-1) power supply.
4. flying robot's control system semi-physical simulation platform according to claim 1 is characterized in that: said flying robot's aircraft mounted control system (3) carries out serial communication with flying robot's kinetic model simulation computer (2);
Said flying robot's aircraft mounted control system (3) is connected with flying robot's ground monitoring computing machine (5) through flying robot's on-board controller (3-1) and realizes serial communication.
5. flying robot's control system semi-physical simulation platform according to claim 1 is characterized in that: said virtual sensor device signal comprises: flying robot's gps coordinate, flight attitude angle, three overall Flight Acceleration, three overall flying speeds, flight attitude angular rate of change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205027125U CN202453676U (en) | 2011-12-06 | 2011-12-06 | Semi-physical simulation platform of flying robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205027125U CN202453676U (en) | 2011-12-06 | 2011-12-06 | Semi-physical simulation platform of flying robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202453676U true CN202453676U (en) | 2012-09-26 |
Family
ID=46869529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205027125U Expired - Lifetime CN202453676U (en) | 2011-12-06 | 2011-12-06 | Semi-physical simulation platform of flying robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202453676U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149846A (en) * | 2011-12-06 | 2013-06-12 | 中国科学院沈阳自动化研究所 | Flying robot control system semi-physical simulation platform |
| CN103235852A (en) * | 2013-04-21 | 2013-08-07 | 南昌航空大学 | Flight Gear general three-dimensional scene data displaying method based on field programmable gate array (FPGA) |
| CN104142631A (en) * | 2014-08-01 | 2014-11-12 | 北京理工大学 | Rapid prototype design and semi-physical simulation method and system for flight control system |
| CN106643348A (en) * | 2017-02-22 | 2017-05-10 | 哈尔滨工业大学 | Semi-physical simulating device for guided missile |
-
2011
- 2011-12-06 CN CN2011205027125U patent/CN202453676U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149846A (en) * | 2011-12-06 | 2013-06-12 | 中国科学院沈阳自动化研究所 | Flying robot control system semi-physical simulation platform |
| CN103235852A (en) * | 2013-04-21 | 2013-08-07 | 南昌航空大学 | Flight Gear general three-dimensional scene data displaying method based on field programmable gate array (FPGA) |
| CN104142631A (en) * | 2014-08-01 | 2014-11-12 | 北京理工大学 | Rapid prototype design and semi-physical simulation method and system for flight control system |
| CN104142631B (en) * | 2014-08-01 | 2016-08-24 | 北京理工大学 | The Rapid Prototype Design of flight control system and semi-physical simulation method and system |
| CN106643348A (en) * | 2017-02-22 | 2017-05-10 | 哈尔滨工业大学 | Semi-physical simulating device for guided missile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103149846A (en) | Flying robot control system semi-physical simulation platform | |
| CN104808675B (en) | Body-sensing flight control system and terminal device based on intelligent terminal | |
| CN106444861B (en) | A kind of robot for space remote control system based on three-dimension gesture | |
| CN102854887A (en) | Unmanned plane route planning and remote synchronous control method | |
| CN202758243U (en) | Unmanned aerial vehicle flight control system | |
| CN103246204B (en) | Multiple no-manned plane system emulation and verification method and device | |
| CN202230330U (en) | Physical simulation experimental platform for civil fixed-wing unmanned aerial vehicle | |
| CN107589752A (en) | Unmanned plane cooperates with formation realization method and system with ground robot | |
| CN102789171A (en) | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control | |
| CN105807779A (en) | Flight control system and method for unmanned aerial vehicle | |
| CN110187700B (en) | Bionic flapping wing flying robot remote control system and method based on virtual reality | |
| CN111694376B (en) | Flight simulation method and device, electronic equipment and unmanned aerial vehicle | |
| CN202453676U (en) | Semi-physical simulation platform of flying robot control system | |
| CN105182770A (en) | System and method for spacecraft semi-physical simulation experiment based on rotor craft | |
| CN105334861A (en) | Unmanned plane flight control module, unmanned plane flight control system and unmanned plane | |
| CN113467275A (en) | Unmanned aerial vehicle cluster flight simulation system based on real object airborne equipment | |
| CN105204370A (en) | Real-time fixed wing aircraft simulation system and simulation method | |
| CN111061164A (en) | Unmanned aerial vehicle semi-physical simulation system and simulation method | |
| CN108965124A (en) | A kind of unmanned aerial vehicle control system | |
| CN103675834A (en) | Indoor satellite signal simulation system | |
| CN105242679A (en) | Method for designing control system of four rotor aircraft | |
| CN113419518B (en) | VIL test platform based on VTS | |
| CN106855693A (en) | A kind of near space aerostatics semi-physical system, avionics system test and winged control semi-physical simulation method and ground controlling method | |
| CN103941592A (en) | Online modeling method of flying robot dynamics model | |
| CN112327668A (en) | Modeling and semi-physical simulation method and system for medium and large unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120926 |
|
| CX01 | Expiry of patent term |