某无人机飞控系统地面半实物仿真平台设计

Design of a ground HIL simulation test platform for flight control system of UAV

无人机(UAV)飞控系统地面半实物仿真平台用于对无人机飞控系统进行相关地面测试。针对某无人机飞行控制系统,提出了一种基于MATLAB实时工作空间和Vx Works实时操作系统的地面半实物仿真平台方案。针对无人机小扰动数学模型,构建了地面站上位机、控制器和模型机组成的实时系统闭环回路,对硬件及软件配置进行了说明,并设计了相关控制算法。该试验台可实时监测无人机系统状态,并可实时对模型注入扰动,实现系统在线调参。该半物理仿真平台结构简洁,功能明确,为相关控制律提供了便捷的研究设计手段。

A ground Hardware-in-Loop(HIL) simulation test platform is used to perform ground tests for flight control system of Unmanned Aerial Vehicle(UAV). For the purpose of such tests, a ground HIL simulation platform based on MATLAB Real-time Workspace(RTW) and real-time operating system VxWorks is designed. The mathematic model of the UAV is built, and the closed loop of the real-time system including a master computer, a control computer and a model computer is constructed. Hardware and software configuration, and also flight control laws are discussed. This platform enables the observation of system states in UAV flight process, the injection of disturbance, and online adjusting of parameters. This platform is simple but very functional, and it provides a valid way to test control laws of UAV.