模型直升机自动飞行仿真

Auto-pilot Simulation for a Model Helicopter

模型直升机的自动飞行控制系统是一个以计算机技术为基础的复杂系统,建立完善的仿真平台是模型直升机自动飞行控制研究中非常重要的一部分。本文以Raptor?60模型直升机为研究对象,详细介绍了如何建立仿真平台、如何利用仿真平台验证数学模型,以及如何利用仿真平台对机载平台进行软硬件测试,包括利用SITL(software-in-the-loop)来测试控制算法和利用HITL(hardware-in-the-loop)来测试伺服器动态特性、机载控制器的实时能力和工作性能。

Auto-pilot control system for model helicopter is a complicated system based on computer technology. One important part of designing the auto-pilot control system for model helicopter is to develop a perfect simulator focusing on the Raptor? 60 model helicopter, it is described in the paper in detail how to develop a simulator, how to validate the mathematical model based on the simulator, and how to test software and hardware of the on-board computer with the simulator, including testing the control arithmetic with SITL (software-in-the-loop) test, and testing the servo dynamics, real-time capacity and performance of the on-board computer with HITL(hardware-in-the-loop).