Virtual prototype system for vehicle and drone companion flight cooperation

Abstract

The virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight cooperation comprises the following steps: a Simulink simulation environment is established; a three-dimensional structure model of a vehicle which can be imported into the Simulink simulation environment is established according to the structural characteristics of the vehicle, and the three-dimensional structure model of the vehicle is imported into the Simulink simulation environment; a vehicle power system calibration parameter model, vehicle dynamics parameters and a tire adhesion coefficient are set in the Simulink simulation environment, and a vehicle virtual prototype dynamics visual model is constructed. The virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight cooperation is provided, which can comprehensively integrate a vehicle, a machine nest, an unmanned aerial vehicle and a three-dimensional digital map, and can realize three-dimensional entity modeling, dynamics analysis and system cooperation, thereby providing a basis for further mechanical structure physical parameter, control algorithm, motor driving algorithm and cooperative control algorithm.

Description

TECHNICAL FIELD

[0001] The present application relates to a virtual prototype system for vehicle and UAV companion flight cooperation. BACKGROUND

[0002] With the advent of unmanned era, if unmanned ground platform and air platform can be integrated and cooperated, the advantages of both can be combined to play a greater role. However, relying on a single unmanned ground platform or air unmanned platform has its own drawbacks. Directly building an air-ground collaborative physical system to carry out key technology research requires huge human, material and time costs, and there is also a huge risk.

[0003] If a virtual prototype model that can fully reflect the actual physical system dynamics behavior is built, the influence of mechanical structure, machine nest and UAV dynamics parameters on the cooperation performance of each part or the influence of control algorithm and cooperation control algorithm on the final performance can be studied on the virtual prototype, so that the dynamics parameters and control algorithm of each part can be optimized before the physical system is built, greatly saving the human, material and time costs of air-ground cooperation, and also saving the risk. Therefore, building a virtual prototype system for vehicle and UAV companion flight cooperation has important significance for air-ground cooperation research. SUMMARY

[0004] The purpose of the present application is to provide a virtual prototype system for vehicle and UAV companion flight cooperation, which can integrate vehicle, machine nest, UAV and three-dimensional entity modeling, dynamics analysis and system cooperation, and provide a basis for further mechanical structure physical parameters, control algorithm, motor driving algorithm and cooperation control algorithm.

[0005] The virtual prototype system for vehicle and UAV companion flight cooperation of the present application comprises:

[0006] A, establishing a Simulink simulation environment;

[0007] B, according to the structural characteristics of the vehicle, a three-dimensional structural model of the vehicle which can be imported into the Simulink simulation environment is established, and the three-dimensional structural model of the vehicle is imported into the Simulink simulation environment;

[0008] C, setting vehicle power system calibration parameter model, vehicle dynamics parameters and tire adhesion coefficient in the Simulink simulation environment, and constructing a vehicle virtual prototype dynamics visualization model;

[0009] D, importing the three-dimensional structural model of the machine nest attached to the vehicle into the Simulink simulation environment, setting the machine nest dynamics parameters and driving motor model in the Simulink simulation environment, and constructing a machine nest virtual prototype dynamics visualization model;

[0010] E、According to the structural features of the unmanned aerial vehicle, a three-dimensional structural model of the unmanned aerial vehicle is established which can be imported into a Simulink simulation environment, and the three-dimensional structural model of the unmanned aerial vehicle is imported into the Simulink simulation environment;

[0011] F, the unmanned aerial vehicle rack dynamics parameters, unmanned aerial vehicle motor model and unmanned aerial vehicle propeller lift torque model are set in the Simulink simulation environment, and the unmanned aerial vehicle virtual prototype dynamics visualization model is constructed;

[0012] G, the three-dimensional digital map model is imported into the Simulink simulation environment, and the vehicle, nest and unmanned aerial vehicle virtual prototype model are embedded into the three-dimensional digital map model, a visualization virtual prototype model with unified spatial coordinate system is constructed, which can map the environment, vehicle, nest and unmanned aerial vehicle physical system dynamics behavior, and the virtual prototype model is provided with an environment parameter input interface, a vehicle parameter input interface, a nest parameter input interface and an unmanned aerial vehicle parameter input interface.

[0013] Preferably, the unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle, a rotary-wing unmanned aerial vehicle, an unmanned airship, a parafoil unmanned aerial vehicle and / or an ornithopter unmanned aerial vehicle.

[0014] Preferably, the unmanned aerial vehicle uses the Beidou system and / or the GPS system for positioning.

[0015] Preferably, the unmanned aerial vehicle uses battery power for flight.

[0016] The virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight of the present application can optimize the dynamics parameters and control algorithms of each part before the physical system is made, greatly saving the manpower, material resources and time cost of air-ground cooperation, and also saving the risk. Therefore, the virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight of the present application has important significance for air-ground cooperation research, which can integrate three-dimensional entity modeling, dynamics analysis and system cooperation of virtual prototype model of vehicle, nest, unmanned aerial vehicle and three-dimensional digital map, and provide a basis for further mechanical structure physical parameters, control algorithms, motor driving algorithms and cooperative control algorithms.

[0017] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings. The following examples are used to illustrate the present application, but not to limit the scope of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1Flow chart of the virtual prototype system for vehicle and UAV companion flight cooperation of the present application. DETAILED DESCRIPTION

[0019] Simulink is a visual simulation tool in MATLAB developed by Mathworks. Simulink is a modular graph environment for multi-domain simulation and model-based design. It supports system design, simulation, automatic code generation, and continuous testing and verification of embedded systems. Simulink provides a graphical editor, customizable block libraries, and solvers for dynamic system modeling and simulation.

[0020] Simulink is integrated with MATLAB, which can integrate MATLAB algorithms into models in Simulink, and can export simulation results to MATLAB for further analysis. The application fields of Simulink include automobiles, aviation, industrial automation, large modeling, complex logic, physical logic, signal processing, etc.

[0021] Reference Figure 1 The virtual prototype system for vehicle and UAV companion flight cooperation of the present application comprises:

[0022] A, establish a Simulink simulation environment;

[0023] B, according to the structural characteristics of the vehicle, a three-dimensional structural model of the vehicle that can be imported into the Simulink simulation environment is established, and the three-dimensional structural model of the vehicle is imported into the Simulink simulation environment;

[0024] C, set the vehicle power system calibration parameter model, vehicle dynamics parameters and tire adhesion coefficient in the Simulink simulation environment, and build a vehicle virtual prototype dynamics visualization model;

[0025] D, import the three-dimensional structural model of the nest attached to the vehicle into the Simulink simulation environment, set the nest dynamics parameters and drive motor model in the Simulink simulation environment, and build a nest virtual prototype dynamics visualization model;

[0026] E, according to the structural characteristics of the UAV, a three-dimensional structural model of the UAV that can be imported into the Simulink simulation environment is established, and the three-dimensional structural model of the UAV is imported into the Simulink simulation environment;

[0027] F, set the UAV frame dynamics parameters, UAV motor model and UAV propeller lift torque model in the Simulink simulation environment, and build a UAV virtual prototype dynamics visualization model;

[0028] G, import the three-dimensional digital map model into the Simulink simulation environment, and embed the vehicle, nest and unmanned aerial vehicle virtual prototype models into the three-dimensional digital map model, build a visual virtual prototype model with a unified spatial coordinate system, which can map the dynamics behavior of the environment, vehicle, nest and unmanned aerial vehicle physical system, and the virtual prototype model is provided with an environment parameter input interface, a vehicle parameter input interface, a nest parameter input interface and an unmanned aerial vehicle parameter input interface.

[0029] As a further improvement of the application, the unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle, a rotary-wing unmanned aerial vehicle, an unmanned airship, a parafoil unmanned aerial vehicle and / or an ornithopter unmanned aerial vehicle.

[0030] As a further improvement of the application, the unmanned aerial vehicle uses the Beidou system and / or the GPS system for positioning.

[0031] As a further improvement of the application, the unmanned aerial vehicle uses battery power for flight.

[0032] The virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight of the application is to import the three-dimensional structure model of the vehicle into the Simulink simulation environment, set the vehicle power system calibration parameter model, vehicle dynamics parameters and tire adhesion coefficient in the Simulink simulation environment, and build a visual vehicle virtual prototype dynamics model; then import the three-dimensional structure model of the nest attached to the vehicle into the Simulink simulation environment, set the nest dynamics parameters and drive motor model in the Simulink simulation environment, and build a visual nest virtual prototype dynamics model; finally, import the three-dimensional structure model of the unmanned aerial vehicle into the Simulink simulation environment, set the nest dynamics parameters, motor model and propeller lift torque model in the Simulink simulation environment, build a visual unmanned aerial vehicle virtual prototype dynamics model, finally import the three-dimensional digital map model, and embed the vehicle, nest and unmanned aerial vehicle virtual prototype models into the three-dimensional digital map model, build a visual virtual prototype model with a unified spatial coordinate system, which can map the dynamics behavior of the environment, vehicle, nest and unmanned aerial vehicle physical system, and the virtual prototype model has environment, vehicle, nest and unmanned aerial vehicle input interfaces. Therefore, the virtual prototype model can be used for cooperative control algorithm research, and the research results can be applied to actual physical systems.

[0033] The virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight of the present application can greatly save manpower, material resources, time cost and risk by constructing a virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight, building a virtual prototype model capable of fully reflecting the dynamic behavior of the actual physical system, researching the influence of mechanical structure, vehicle and unmanned aerial vehicle dynamics parameters on cooperative performance on the virtual prototype, or researching the influence of each part control algorithm and cooperative control algorithm on the final performance, thereby optimizing the dynamics parameters and control algorithm of each part before the physical system is built, greatly saving the manpower, material resources, time cost and risk of air-ground cooperation. Therefore, the virtual prototype system for vehicle and unmanned aerial vehicle cooperative flight of the present application has important significance for air-ground cooperation research, which can integrate three-dimensional entity modeling, dynamic analysis and system cooperation of vehicle, vehicle, unmanned aerial vehicle and three-dimensional digital map virtual prototype model, and provide a basis for further mechanical structure physical parameters, control algorithm, motor driving algorithm and cooperative control algorithm.

[0034] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A virtual prototype system for vehicle-drone-drone collaborative flight, characterized in that... include: A. Establish a Simulink simulation environment; B. Based on the vehicle's structural characteristics, create a 3D vehicle structural model that can be imported into the Simulink simulation environment, and then import the 3D vehicle structural model into the Simulink simulation environment. C. Set up the vehicle powertrain calibration parameter model, vehicle dynamics parameters and tire adhesion coefficient in the Simulink simulation environment, and build a virtual prototype dynamics visualization model of the vehicle. D. Import the 3D structure model of the avionics nest attached to the vehicle into the Simulink simulation environment, set the dynamic parameters of the avionics nest and the drive motor model in the Simulink simulation environment, and build a dynamic visualization model of the virtual prototype of the avionics nest. E. Based on the structural characteristics of the UAV, establish a 3D structural model of the UAV that can be imported into the Simulink simulation environment, and import the 3D structural model of the UAV into the Simulink simulation environment. F. Set the UAV frame dynamic parameters, UAV motor model, and UAV propeller lift torque model in the Simulink simulation environment to build a virtual prototype dynamic visualization model of the UAV. G. Import the 3D digital map model into the Simulink simulation environment, and embed the virtual prototype models of vehicles, nests, and UAVs into the 3D digital map model to construct a visualized virtual prototype model with a unified spatial coordinate system that can map the dynamic behavior of the physical systems of the environment, vehicles, nests, and UAVs. The virtual prototype model is equipped with environmental parameter input interfaces, vehicle parameter input interfaces, nest parameter input interfaces, and UAV parameter input interfaces. The drone uses the BeiDou system and / or GPS system for positioning.

2. The virtual prototype system for vehicle-UAV escort and collaboration according to claim 1, characterized in that: The drones are fixed-wing drones, rotary-wing drones, unmanned airships, paragliding drones, and / or flapping-wing drones.

3. The virtual prototype system for vehicle-UAV escort and collaboration according to claim 2, characterized in that: The drone is powered by batteries.

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