Flying robot control system semi-physical simulation platform

A flying robot and semi-physical simulation technology, which is applied in general control systems, control/regulation systems, instruments, etc., can solve the problems that the flying robot control algorithm and system function hardware debugging cannot be realized, so as to simplify the test work and avoid repeated design , a strong systemic effect

Inactive Publication Date: 2013-06-12
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0006] Aiming at the technical gap that the existing software simulation platform cannot realize the control algorithm, system function and system hardware debugging of the flying robot, a semi-physical simulation system of the flying robot control system is proposed

Method used

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  • Flying robot control system semi-physical simulation platform
  • Flying robot control system semi-physical simulation platform
  • Flying robot control system semi-physical simulation platform

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Embodiment Construction

[0049] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0050] By simulating the accelerometer, gyroscope and other sensor information and forming a data packet to send to the flight robot on-board controller 3-1, after the control algorithm generates the control amount to realize the function and complete the flight task, form a data packet and send it to the flying robot power learning model to generate corresponding control effects, and use the flying robot flight attitude display / view display computer 1 to realize the three-dimensional display of the flying robot and its flying environment, and then complete the control algorithm design and policy verification of the flying robot flight control system; at the same time The execution steering gear 3-3 of the flying robot can be connected with the onboard controller 3-1 of the flying robot, so as to visually verify the correctness of the control signal gene...

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Abstract

The invention relates to a flying robot control system semi-physical simulation platform which comprises a flying robot flight posture display/visual scene display computer, a flying robot dynamic model simulation computer, a flying robot airborne control system, a radio remote controller and a flying robot ground monitoring computer. The flying robot control system semi-physical simulation platform can simultaneously on-line debug a software system, a hardware system and a control algorithm of a flying robot and draws near an actual working condition of the flying robot to the maximum degree. A simulation experiment can directly verify the correctness of control signals through an executing steering gear of the flying robot airborne control system. The flying robot flight posture display/visual scene display computer can assist in verifying the actual working condition of the flying robot and the correctness of the control signals. The flying robot control system semi-physical simulation platform has stronger generality, stronger systematicness, stronger operability and stronger displaying performance and can be conveniently used in semi-physical simulation experiments of various flying robots. Repeated design of the flying robot control system is avoided, and test work of new function extension of the flying robot control system is greatly simplified.

Description

technical field [0001] The invention relates to a semi-physical simulation platform of a flying robot control system, in particular to a flying robot simulation system based on a combination of software and hardware structures and a control method thereof. Background technique [0002] In order to meet the needs of flying robots in the control system software design and the early verification of key technologies, scholars at home and abroad have built various software simulation (Software in the loop simulation, SILS) platforms for different applications of flying robots. However, a single software simulation platform cannot meet the needs of the flying robot control system for control algorithms, system functions, and combined system hardware debugging and research. [0003] Semi-physical simulation, also known as semi-physical object and hardware in the loop simulation (HILS), plays an extremely important role in the design and development of flying robot systems. Especia...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 韩建达齐俊桐吴镇炜宋大雷王子铭
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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