Single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and experimental method

Abstract

The invention discloses a single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and an experimental method. According to the simulation platform, a single rotor wing helicopter is arranged on a universal ball joint on a top end of a three-freedom degree aircraft rotary table; an airborne attitude sensor is arranged at a geometric central part of the single rotor wing helicopter; an airborne assistant controller is arranged in the single rotor wing helicopter; the airborne attitude sensor and the airborne assistant controller are respectively connected with a simulation controller system; and the simulation platform further comprises a displacement variation virtual scene on-line display computer which is connected with the simulation controller system. The method comprises the steps of: according to a simulation task, utilizing modules and controls in an x-PC toolbox to operate Simulink software on a host computer, and building a model block diagram for a simulation system. By utilizing the simulation platform and the experimental method, the high efficiency, practicability and dependability of a single rotor wing helicopter controller design are improved; and experiments can be safely carried out, an unmanned aerial vehicle flight control algorithm can be visually simulated, and the attitude information of the single rotor wing helicopter can also be actually shown.

Description

technical field [0001] The invention relates to a simulation platform of a single-rotor helicopter. In particular, it relates to a three-degree-of-freedom semi-physical simulation platform and an experimental method for a single-rotor unmanned aerial vehicle. Background technique [0002] Single-rotor helicopters are a type of rotorcraft, generally equipped with flight control systems, attitude sensors, GPS positioning systems, communication systems, etc., and can complete flight tasks autonomously without human intervention. Single-rotor helicopters can achieve vertical take-off and landing, and can achieve hovering, forward flight, backward flight, side flight and other flight actions in the air, with strong maneuverability and flexibility. Therefore, single-rotor helicopters have been widely used in military and civilian fields in recent years, and have attracted the attention of a large number of researchers. [0003] However, single-rotor helicopters have extremely st...

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Problems solved by technology

However, there is still no applicable hardware-in-the-loop

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