Simulation method and system of general unmanned aerial vehicle based on nonlinear mathematical model

A mathematical model and simulation system technology, applied in the field of UAV mathematical model construction, can solve the problems of increasing the modeling workload, long cycle, unable to support two coordinate systems at the same time, etc.

Inactive Publication Date: 2013-02-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] First, when constructing nonlinear mathematical models for different types of UAVs, due to the difference in aerodynamic shape, the calculation of aerodynamic force and moment is different, and their modeling needs to repeat the above process, which is complicated and difficult to model. Low efficiency and long cycle;
[0004] Second, for the two different coordinate system definition methods of the Soviet Union coordinate system and the European and American coor

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  • Simulation method and system of general unmanned aerial vehicle based on nonlinear mathematical model
  • Simulation method and system of general unmanned aerial vehicle based on nonlinear mathematical model
  • Simulation method and system of general unmanned aerial vehicle based on nonlinear mathematical model

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Embodiment 1

[0093] Such as Figure 1-Figure 5 As shown, this embodiment relates to a general-purpose UAV simulation method based on a nonlinear mathematical model, which mainly includes three method modules: model solution, dual coordinate system support, and CMEX packaging. The specific steps are as follows:

[0094] Step 1: Call the user interface function provided by the general model software to initialize the motion state of the drone;

[0095] In this embodiment, two initialization methods are designed: initializing the component of the ground speed in the body coordinate system and initializing the component of the ground speed in the geographic coordinate system. The user is allowed to select one of them for initialization, and the software program automatically completes the initialization of the other speed through the transformation matrix between the body coordinate system and the geographic coordinate system provided in the model.

[0096] Step 2: Set the mass and moment of ...

Embodiment 2

[0177] This embodiment relates to a simulation system for implementing the simulation method described in Embodiment 1, such as Figure 6-Figure 8 shown, which includes:

[0178] Simulation system input module 1;

[0179] Carry out the initialization module 2 of unmanned aerial vehicle movement state initialization;

[0180] State Quantity Derivative Calculation Module 3;

[0181] Status update module 4;

[0182] Auxiliary physical quantity calculation module 5;

[0183] Simulation system output module 6;

[0184] Among them, the state parameters of the UAV are input into the initialization module 2 through the simulation system input module 1, and the initialization module 2 processes the initial state information of the UAV and inputs the processing result into the initialization state quantity update module 4; The external force and external moment are input to the state quantity derivative calculation module 3 through the simulation system input module 1, and the stat...

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Abstract

The invention discloses a nonlinear model construction method of a general unmanned aerial vehicle based on a nonlinear mathematical model, and relates to a system for realizing the construction method. The method mainly comprises the steps of model calculation, double coordinate support and CMEX package. The system comprises an input module of a simulation system, an initializing module for initializing the state of motion of the unmanned aerial vehicle, a state quantity derivative calculation module, a state quantity updating module, an assistant physical quantity calculation module and an output module of the simulation system. According to the method and the system, more work is transferred to a computer, and complete physical quantity of the unmanned aerial vehicle can be obtained by users to input external forces and external torques. The nonlinear model construction method and the system are simple and convenient to use.

Description

technical field [0001] The invention relates to a method for constructing a mathematical model of an unmanned aerial vehicle, in particular to a general method for constructing a nonlinear model of an unmanned aerial vehicle, and at the same time relates to a system for realizing the construction method. Background technique [0002] In the process of UAV flight control law design and verification, the establishment of a six-degree-of-freedom nonlinear mathematical model is the premise and foundation. In the process of establishing the mathematical model of a general UAV, first select an appropriate coordinate system; secondly, according to the current angle of attack and sideslip angle of the UAV, obtain the aerodynamic derivative from the blowing data, calculate the aerodynamic force and moment, and combine the engine model and gravity field model to obtain the resultant external force and moment of the UAV; then based on this, according to the six-degree-of-freedom dynami...

Claims

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Application Information

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IPC IPC(8): G05B17/02
Inventor 孙春贞彭夏鹏黄一敏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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