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Simulation method for four-rotor aircraft

A quadrotor aircraft and flight state technology, applied in instruments, simulators, electrical testing/monitoring, etc., can solve problems such as complex connections, low model accuracy, and large-scale hardware-in-the-loop simulation systems

Inactive Publication Date: 2014-11-05
HARBIN INST OF TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention aims to solve the problem of low accuracy caused by the existing semi-physical simulation system with large scale, complex connection, and virtual state variables in simulation, and difficulty in applying the model-based controller design method and the model accuracy obtained by numerical simulation system mechanism modeling. Not high problem, the present invention provides a kind of quadrotor aircraft simulation method

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  • Simulation method for four-rotor aircraft
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  • Simulation method for four-rotor aircraft

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specific Embodiment approach 1

[0072] Specific implementation mode one: see figure 1 Illustrate the present embodiment, the semi-physical simulation method of quadrotor aircraft described in the present embodiment, it is realized based on following device, and this device comprises simulation computer 1, airborne microcontroller 2, No. 1 wireless transceiver 3,2 No. wireless transceiver 4 and airborne sensor 5;

[0073] The data signal input end of the airborne microcontroller 2 is connected with the data signal output end of the airborne sensor 5, the communication end of the airborne microcontroller 2 is connected with the signal input and output ends of the No. 2 wireless transceiver 4, and the No. 2 wireless transceiver The device 4 carries out data transmission with the No. 1 wireless transceiver 3 by way of wireless communication, and the signal input and output terminals of the No. 1 wireless transceiver 3 are connected with the signal input and output terminals of the simulation computer 1,

[0074...

specific Embodiment approach 2

[0081] Embodiment 2: The difference between this embodiment and the semi-physical simulation method for quadrotor aircraft described in Embodiment 1 is that the airborne sensor 5 includes a three-axis electronic compass 5-1 and a six-axis motion sensor 5-2. and ultrasonic ranging sensor 5-3,

[0082] The three-axis electronic compass 5-1 is used to collect three-axis magnetic induction intensity signals,

[0083] The six-axis motion sensor 5-2 is used to collect three-axis acceleration readings and three-axis orientation readings,

[0084] The ultrasonic ranging sensor 5-3 is used to collect ranging readings.

specific Embodiment approach 3

[0085] Specific embodiment three: The difference between this embodiment and the semi-physical simulation method of the quadrotor aircraft described in the second specific embodiment is that the described three-axis electronic compass 5-1 is implemented by an integrated circuit model HMC5883L, and the six-axis motion The model of the sensor 5-2 is implemented by an integrated circuit of MPU6050, and the ultrasonic ranging sensor 5-3 is realized by an integrated circuit of the model US-100.

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Abstract

The invention provides a simulation method for a four-rotor aircraft, and relates to a real-time simulation method of an unmanned aircraft. The simulation method for the four-rotor aircraft solves the problems that an existing semi-physical simulation system is huge in size, complex in connection, low in accuracy due to the fact that virtual state variables exist in simulation, and low in accuracy of a model obtained through modeling applying a controller design method based on the models and a numerical simulation system mechanism, wherein the controller design method based on the models and the numerical simulation system mechanism cannot be applied to modeling easily. According to the simulation method for the four-rotor aircraft, the actual aircraft is regarded as the controlled object and connected to a simulation circuit, and a reference is provided for the numerical simulation models obtained by mechanism modeling in MATLAB / Simulink, so that accuracy of aircraft mechanism modeling can be verified rapidly. A parameter recognition method is adopted so as to guarantee accuracy of objective models in numerical simulation, so that feasible controllers are verified in the numerical simulation and the controllers can be finally effectively applied to actual physical objects. The simulation method for the four-rotor aircraft is specifically applied to the field of four-rotor aircraft simulation.

Description

technical field [0001] The invention relates to a real-time simulation method for an unmanned aerial vehicle. Background technique [0002] Quadrotors are dynamically underactuated, strongly coupled and nonlinear, all of which increase the difficulty of flight controller design. [0003] In the design stage of the controller, there are usually two ways to verify the performance of the controller: the first is physical flight, this verification method is highly reliable, but has the disadvantages of low efficiency, high risk, and high cost; the second The first method is numerical simulation, which has high efficiency and low cost, but usually due to factors such as inaccurate parameter estimation in the numerical model, unmodeled dynamics, and unaccounted for disturbances, it is difficult to verify a feasible controller even in numerical simulation. Difficult to apply to actual aircraft. [0004] Hardware-in-the-loop simulation, also known as hardware in the loop simulatio...

Claims

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Application Information

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IPC IPC(8): G05B17/02G05B23/02
Inventor 胡庆雷陈卓苗楠李波
Owner HARBIN INST OF TECH
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