基于FlightGear的直升机可视化飞行仿真系统设计

Design of FlightGear-based helicopter visual flight simulation system

飞行仿真是直升机控制系统研究中必不可少的一个环节。在VC 6.0平台下建立了直升机非线性六自由度动力学模型,飞行控制律和飞行指令遥控台,使用串口使三者进行数据传输;同时借助FlightGear模拟器外部数据的输入/输出接口,将飞行仿真数据通过UDP网络传输,驱动FlightGear可视化引擎,实现飞行仿真中天气条件、飞行姿态和地理环境的三维可视化显示。飞行指令遥控台、飞行控制律、直升机动力学模型及视觉仿真软件这四者构成了一个完整的可视化仿真系统,实现对直升机的总体结构和飞行情况直观形象的显示,从飞机的姿态、位置、轨迹变化中发现存在的问题,对控制策略的设计验证和改善提供一定的帮助。

Flight simulation is an essential process in the development of helicopter control system. On the VC 6.0 plat- form, a nonlinear 6-DOF dynamic model of a helicopter along with flight control laws and remote control units are established and integrated together through the serial communication. The flight simulation data are transmitted to the FlightGear simula- tor through UDP protocol using the external data input/output interface of FlightGear, and then drive the visualization engine of FlightGear to achieve the 3D visual display of weather conditions, flight attitude and geographical environment. The visual simulation system, which includes remote control units, flight control laws, helicopter dynamic model and visual simulation software, can directly and visually display the overall structure of the helicopter and its flight details. From the helicopter atti- tude, position and trajectory in the simulated flight, the defects of the helicopter control system can be found and therefore be helpful to the verification and the improvement of the control law design.