多无人机编队半实物仿真系统开发与应用

Development and application of HIL simulation system for multi-UAV formation

针对多无人机编队飞行试验的需求,文中开发一种半实物仿真系统,用以开展多机编队飞行的半实物仿真试验,并对编队功能和性能进行试验验证。根据无人机系统的组成和硬件配置,设计并构建半实物仿真系统的架构。针对机载传感器的接口类型完成仿真系统的硬件选型,并设计仿真电缆。基于被试无人机的气动参数和发动机参数,建立无人机的Simulink六自由度实时仿真模型,并开发部署相应的仿真环境和仿真软件。基于该仿真系统,进行8架无人机编队飞行的半实物仿真试验。试验结果表明,参试的8架无人机能够实现编队飞行的功能,并根据给定的不同队形的指令进行队形变换和保持。所设计系统不仅能在飞行试验前进行编队仿真验证和测试,还能对地面操作手进行飞行试验前的模拟训练。

To meet the requirements of multi unmanned aerial vehicles(UAV)formation flight test,a hardware-in-the-loop(HIL)simulation system is developed to conduct the HIL simulation test of multi-UAV formation flight,and verify the formation function and performance. According to the composition and hardware configuration of UAV system,the architecture of HIL simulation system is designed and constructed. According to the interface type of the airborne sensor,the hardware selection of the simulation system is completed,and the simulation cable is designed. Based on the aerodynamic parameters and engine parameters of the tested UAV,the Simulink 6 degree of freedom(6-DOF)real-time model of the UAV is established,and the corresponding simulation environment and software are developed and deployed. The HIL simulation test of formation flight of 8UAVs was carried out based on the simulation system. The testing results show that the 8 UAVs in the test can achieve the formation flying function,and perform formation transformation and maintenance according to the given instructions of different formations. The designed system can cany owt not only formation simulation verification and test before flight test,but also simulation training for ground operators before flight test.