“人在回路”无人飞艇半实物仿真系统设计与实现

Design and implementation of man-in-the-loop unmanned airship HIL simulation system

为开展某型无人飞艇系统的地面集成及飞行仿真试验,基于VxWorks实时操作系统、Matlab/Simulink和RTW(Real Time Workshop)快速原型建模仿真软件、FUTABA数据采集系统和三维视景系统,开发了具有高精度、高实时性的半实物仿真平台以及仿真软件.该系统的最大创新点是加入了FUTABA遥控设备以及PWM(Pulse Width Modulation)/RS-422的信号转换模块,从而将飞行员的视觉感受及操纵输出接入到仿真回路中,实现了在全遥控、半自主和自主3种模式下的"人在回路"仿真.仿真试验结果表明:"人在回路"的飞行仿真试验可验证控制律的3种模式切换功能以及姿态、航迹控制效果,提高了飞行员对该型飞行器的操纵熟练程度,可以实现在应急情况下直接控制无人飞艇平稳着陆.

In order to carry out the unmanned airship system ground integration and flight simulation,the hardware and software of the hardware-in-the-loop（HIL） simulation platform was developed.It was based on real-time operating system（RTOS） VxWorks,Matlab/Simulink and real time workshop（RTW）,FUTABA data acquisition system and three-dimensional visual system.The biggest innovation was the usage of the FUTABA remote control（RC） equipments and pulse width modulation（PWM）/RS-422 signal transform module,thus the visual sense and the control output of the pilot could be accessed to the simulation loop.The results show that man-in-the-loop flight simulation tests can verify the function of control mode switching and the effects of attitude and track control.The tests also improve the pilot＇s proficiency in controlling this type of the unmanned airship directly to land steady in case of emergency.