Semi-physical simulation experimental system for quad-rotor unmanned aerial vehicle and experimental method of semi-physical simulation experimental system

Abstract

The invention discloses a semi-physical simulation experimental system for a quad-rotor unmanned aerial vehicle and an experimental method of the semi-physical simulation experimental system. The system is provided with the quad-rotor unmanned aerial vehicle. The quad-rotor unmanned aerial vehicle is arranged on a globe joint which is located at the top end of a three-degree-of-freedom aircraft rotary table and has universal performance; the geometric center of the quad-rotor unmanned aerial vehicle is provided with an airborne attitude sensor; the quad-rotor unmanned aerial vehicle comprises an airborne bottom layer control panel; the airborne attitude sensor and the airborne bottom layer control panel are respectively connected with a simulation controller system; and a virtual scene online display computer connected with the simulation controller system is also arranged. The method comprises the following steps of running Simulink software in a host machine by utilizing modules and controls in a Matlab real-time tool kit and building a block diagram of a model for the simulation controller system, wherein the model comprises four subsystems: a subsystem for reading airborne sensor data, a subsystem for generating the virtual displacement of the quad-rotor unmanned aerial vehicle, a flight control algorithm subsystem and a control command transmission and virtual display interface subsystem. According to the semi-physical simulation experimental system for the quad-rotor unmanned aerial vehicle and the experimental method of the semi-physical simulation experimental system disclosed by the invention, the development cycle can be greatly reduced, and meanwhile, the flight experimental cost is saved.

Description

technical field [0001] The invention relates to a real-time simulation method for an unmanned aerial vehicle. In particular, it relates to a semi-physical simulation experiment system and an experiment method for a quadrotor unmanned aerial vehicle. Background technique [0002] The quadrotor unmanned aerial vehicle is a kind of rotorcraft. It adopts an X-shaped frame, and its flight power comes from the lift generated by the four motors at the end of the frame to drive the propeller. This rotorcraft was designed and successfully tested as early as 1907. Until recent years, with the rapid development of micro-electromechanical technology, inertial navigation technology, material science and energy science, quadrotor unmanned aerial vehicles have been able to develop rapidly. , and relying on its own strong mobility and flexibility, it has been widely used in military and civilian fields, attracting a large number of scientific researchers. [0003] However, the quadrotor u...

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Problems solved by technology

[0005] At present, the hardware-in-the-loop simulation platform of four-rotor unmanned aerial vehicles has problems such as high software and hardware costs, poor system st

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