无人机编队飞行控制半实物仿真技术研究

Research on the Hardware-in-the-loop Simulation of Multi-UAV Formation Flight Control System

为了验证所设计的无人机编队控制系统的性能，设计并搭建了一种无人机编队控制半实物仿真平台。该平台主要由基于RTX技术的实时仿真子系统，基于时分多址技术的无线通讯子系统，基于MFC的人机交互子系统，基于转台、虚拟转台和自驾仪的姿态模拟子系统这四个子系统组成。依次介绍了无人机编队建模及控制器设计，各个子系统组成及关键技术，以及利用该平台测试所设计的编队控制器的试验过程。仿真结果表明，该平台不仅能有效地验证所设计的编队控制器的性能，还能实现对电台、自驾仪和通信协议等关键机载设备和关键技术的功能检测，为今后进一步的试飞实验提供了重要的技术支持。

This paper describes the design methods of HILS （Hardware-In-the-Loop Simulation） platform, whose purpose is to test the performance of designed multi-UAV formation flight control system. The platform consists of four subsystems： real time simulation subsystem based on RTX technique, wireless communication subsystem based on TDMA technique, man-machine interaction subsystem based on MFC and flight position simulation subsystem based on flight motion, virtual flight motion and autopilot. The modeling method of multi-UAV formation and design method of controller are introduced firstly, then the composition and key technologies of every subsystem are presented, finally simulation about the formulation controller is carried out on this platform. The experimental result shows that this platform can effectively test the performance of formation controller and also can examine the function of radio station, autopilot and communication protocols, which provides important technical support for the further flight experiment.