基于Stateflow的无人机应急返航控制仿真

Control Simulation of UAV Emergency Return Based on Stateflow

小型固定翼无人机飞行过程中可能会出现GPS失效而导致无法顺利返航的情况,严重影响其自主性能。设计了一个应对无人机GPS失效的应急返航控制策略,通过使用Stateflow将其建模,对返航过程的三个阶段进行监控,并结合传统PID控制器,在Simulink环境下搭建了整个无人机应急返航系统模型,最后对整个模型进行仿真验证。这种基于Stateflow的返航控制模型相较于传统模型更加简洁直观,控制过程响应快速,可以满足无人机应急返航过程实时性要求高的条件。仿真结果表明,所设计的控制策略可以有效地完成无人机GPS失效时的应急返航任务。

During the flight of small fixed- wing unmanned aerial vehicle（ UAV）,the failure of UAV return caused by the GPS failure may occur,which may weaken its automatic performance. A control strategy was designed in this paper for the emergency return of UAV in GPS failure condition. We set up a model by using Stateflow,monitored the three stages of the return process,and combined with the traditional PID controller,established the entire model of the UAV emergency return system with the Simulink. Finally,the entire model was simulated. This return control model based on Stateflow is more simple and intuitive,compared with the traditional model,the response of the control process is fast,which can meet the condition of high real-time requirements of the UAV emergency return. The result shows that the controlled strategy designed in this paper can effectively finish the UAV emergency return task when GPS fails.