Simulation method and system of general unmanned aerial vehicle based on nonlinear mathematical model

Abstract

The invention discloses a nonlinear model construction method of a general unmanned aerial vehicle based on a nonlinear mathematical model, and relates to a system for realizing the construction method. The method mainly comprises the steps of model calculation, double coordinate support and CMEX package. The system comprises an input module of a simulation system, an initializing module for initializing the state of motion of the unmanned aerial vehicle, a state quantity derivative calculation module, a state quantity updating module, an assistant physical quantity calculation module and an output module of the simulation system. According to the method and the system, more work is transferred to a computer, and complete physical quantity of the unmanned aerial vehicle can be obtained by users to input external forces and external torques. The nonlinear model construction method and the system are simple and convenient to use.

Description

technical field [0001] The invention relates to a method for constructing a mathematical model of an unmanned aerial vehicle, in particular to a general method for constructing a nonlinear model of an unmanned aerial vehicle, and at the same time relates to a system for realizing the construction method. Background technique [0002] In the process of UAV flight control law design and verification, the establishment of a six-degree-of-freedom nonlinear mathematical model is the premise and foundation. In the process of establishing the mathematical model of a general UAV, first select an appropriate coordinate system; secondly, according to the current angle of attack and sideslip angle of the UAV, obtain the aerodynamic derivative from the blowing data, calculate the aerodynamic force and moment, and combine the engine model and gravity field model to obtain the resultant external force and moment of the UAV; then based on this, according to the six-degree-of-freedom dynami...

AI Technical Summary

Problems solved by technology

[0003] First, when constructing nonlinear mathematical models for different types of UAVs, due to the difference in aerodynamic shape, the calculation of aerodynamic force and moment is different, and their modeling needs to repeat the above process, which is complicated and difficult to model. Low efficiency and long cycle;

[0004] Second, for the two different coordinate system definition methods of the Soviet Union coordinate system and the European and American coordinate system, the original modeling method needs to be modeled separately, and cannot support both coordinate systems at the same time;

[0005] Third, UAV control law is usually designed in MATLAB environment, while semi-physical simulation program is developed in C language, both of which depend on the nonlinear mathematical model of UAV, and need to be programmed in M ​​language and C language respectively The non-linear model of UAV increases the workload of modeling

Images