摘要
为了便于对四旋翼无人机的飞行控制系统进行开发,设计了一个用于验证飞行控制系统的全数字仿真平台;建立了四旋翼无人机的数学模型,利用Simulink下的RTW(Real-Time Workshop)工具箱将数学模型转化为C++代码添加到仿真平台中;设计了可视化平台,可将仿真过程直观的进行显示;仿真平台采用C++语言实现,具有良好的外部接口,可方便的将设计好的飞行控制算法添加到仿真平台中,以进行验证和参数整定,还具有数据存储和仿真过程回放等功能;经实际运行表明,仿真平台直观可视,运行良好,能较好地对飞控系统进行仿真验证。
In order to develop flight control system of Quad--rotor aircraft, a digital simulation platform to verify and test the flight con- trol system is proposed. The mathematical model for Quad--rotor aircraft is constructed. The model is changed to C＋＋- code to add to the simulation platform by using the RTW （Real--Time Workshop） in the Simulink. The visual dialog is designed to show the simulation process intuitively. The simulation platform has external interface which is made by the C＋＋ language. The control algorithm can be added to the simulation platform easily for testing and parameter tuning. The simulation platform can save the simulation data and replay the simulation process. The simulation result shows that the platform acquires good visual effect and accurate parameters, simulating and verifying the flight control system well.
出处
《计算机测量与控制》
北大核心
2014年第2期424-426,共3页
Computer Measurement &Control
关键词
四旋翼
飞行控制
仿真平台
数学模型
quad-- rotor
flight control
simulation platform
mathematical model
