四旋翼飞行器的数字孪生系统设计

Design of Digital Twin System for Quadrotor

随着四旋翼飞行器在工程实践中的应用越发广泛,对其控制系统的精确性、快速性、适应性等要求也不断提高。近些年的研究热点——数字孪生,正是借助数据和模型模拟物理实体在现实环境中的行为,通过对物理对象的精准数字化,可用于提高物理实体或系统的运行效率。将数字孪生技术引入四旋翼飞行器的控制系统,建立四旋翼飞行器的数字孪生系统体系架构。详细阐述该体系架构搭建所涉及的相关技术:四旋翼飞行器的数字孪生建模;以传感器技术与无线通讯技术为载体的数据采集与传输;本地数据库配合Hadoop技术进行大数据存储、挖掘。对实际的四旋翼飞行器进行了模型仿真与实地测试,验证了所设计的数字孪生系统的有效性,达到了四旋翼飞行器的运行过程透明化和利用孪生数据优化飞行控制与机身状态的效果。

With the widespread use of quadrotors in engineering practice,the requirements for their control systems’performance such as accuracy,rapidity,adaptability are also enhanced.Digital twin as research focus in recent years can simulate the behavior of physical entities in the real environment by means of data and models.The operational efficiency of physical entities or systems can be improved by the precise digitization of physical objects.The digital twin technology is introduced into the control system of quadrotor,and the architecture of digital twin system of quadrotor is established.The related technologies involved in the implementation of the system are described in detail:How to model the digital twin system of quadrotor?How to use sensor technology and wireless communication technology to solve the data acquisition and transmission?And how to use Hadoop technology for big data storage and mining?Subsequently,model simulations and field tests are carried out on the actual quadrotor to verify the effectiveness of the system.The system can optimize the flight control and fuselage state by using the twin data and make the operation process of the quadrotors transparent.