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Unmanned helicopter flight control improved PSO algorithm verification method based on embedded hardware

An unmanned helicopter and algorithm verification technology, applied in the field of unmanned helicopter control, can solve problems such as the effect gap, and achieve the effect of strong expansion capability, cost reduction, and test risk reduction.

Pending Publication Date: 2020-09-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +2
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Problems solved by technology

Most flight controllers adopt the method of full-digital simulation, and replace the model and control system with a mathematical model for simulation, ignoring or simplifying many physical links, which can only reflect the basic working state of the controller, which is different from the actual flight effect. large gap

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  • Unmanned helicopter flight control improved PSO algorithm verification method based on embedded hardware
  • Unmanned helicopter flight control improved PSO algorithm verification method based on embedded hardware
  • Unmanned helicopter flight control improved PSO algorithm verification method based on embedded hardware

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Embodiment Construction

[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0037] The implementation of the present invention will be described in detail below in conjunction with specific embodiments.

[0038] The unmanned helicopter flight control improved PSO algorithm verification method based on the embedded hardware of the present invention uses the experimental platform based on the embedded hardware to realize the simulation verification of the unmanned helicopter flight control improved PSO algorithm, such as figure 1 The shown experimental platform includes an unmanned helicopter simulation computer, an airborne flight control computer core and a data monitoring...

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Abstract

The invention discloses an unmanned helicopter flight control improved PSO algorithm verification method based on embedded hardware. Based on flight control, the PSO algorithm is improved. An unmannedhelicopter simulation computer is in communication connection with an unmanned helicopter airborne flight control computer kernel through a serial port, and is used for receiving steering engine control information sent by a flight control computer kernel. The unmanned helicopter dynamic model is operated at a fixed step length, the attitude and position state information of the unmanned helicopter is output in real time, so closed-loop control is realized; an MATLAB / SIMULINK platform is adopted, an embedded hardware object is connected into a test loop through a serial port, whether a control algorithm can meet the performance requirement or not can be verified, meanwhile, rapid parameter adjustment of a control system can be facilitated, and the development efficiency is improved. The verification method can directly verify the effectiveness of the configured flight control improved PSO algorithm parameters, and can provide reference for semi-physical simulation experiment parameterconfiguration and subsequent experiment flight decision.

Description

technical field [0001] The invention belongs to the technical field of unmanned helicopter control, and in particular relates to an improved PSO algorithm verification method for unmanned helicopter flight control based on embedded hardware. Background technique [0002] The unmanned helicopter has the characteristics of high flexibility and strong operability, and can realize vertical take-off and landing, fixed-point hovering in the air and other functions. It is a kind of unmanned aerial vehicle widely used in military and civilian fields. With the development of emerging technologies such as computer technology, microelectronics technology and automatic control technology, many research institutions are paying more and more attention to the research work of unmanned helicopters. The current application environment puts forward higher requirements for the flight control of unmanned helicopters. , it is required to have fast response capability and high control precision, ...

Claims

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Application Information

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IPC IPC(8): G06F30/15G06F30/27G06N3/00
CPCG06F30/15G06F30/27G06N3/006
Inventor 李志宇宋一可杨忠青展凤江宋彦国高艳辉郭剑东刘蓉孙晓媛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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