基于AeroSim的先进无人机仿真平台的设计与实现

Design and Implementation for Advanced UAV Simulation Platform Based on AeroSim

在无人机飞行仿真研究方面,存在所建立的模型具有专用性强及可重用性差等问题,文中介绍了一种基于AeroSim模块集所开发的无人机全数字仿真平台,使用了MATLAB/Simulink作为仿真软件的开发环境;在综合考虑了各类影响飞行性能的因素后,根据飞行器建模的通用方法,构建了无人机的全量非线性方程;以模块化的思想进行了仿真子系统的建立,描述了各模块间的关联及功能;在控制律的验证方面,设计了一种非线性动态逆控制器;仿真结果表明,该平台直观性强,所设计的控制器能够保证无人机姿态稳定,并准确地跟踪预定航线,具有较好的模拟效果。

In the fields of UAV flight simulation,the model has strong appropriability and poor reusability.A UAV flight simulation platform based on AeroSim blockset is introduced.This software is developed by using the MATLAB/Simulink.Having taken main factors of flight performance into account,the whole nonlinear equations of UAV is established.Modularized method is applied in the development of subsystems,and relations and functions are described.In order to validate the control law,a nonlinear dynamic inversion controller is designed.Simulation results show that the platform is intuitive,the designed controller can guarantee stable UAV attitude,and accurately track the scheduled route,with good simulation results.