无人机飞行仿真平台控制系统设计

Design of UAV Flight Simulation Platform Control System

摘要:

为了便于在实验室模拟无人机在空中的偏航、俯仰、翻滚3个自由度的飞行姿态,设计了一套用于验证飞行控制系统的三轴转台半物理仿真系统；给出了系统的硬件结构和控制策略；转台系统采用TMS320LF2407作为核心处理器并采用旋转变压器作为反馈环节组成位置和速度的闭环控制；为了提高传统PID的控制精度,提出了一种速度、加速度前馈补偿PID控制方法,有效解决了位置随动系统的快速性和准确性这一矛盾；实验运行结果表明,该平台运行良好,控制精度高,能较好实现对无人机飞行姿态的模拟。

Abstract:

In order to simulate the UAV flight attitude in lab, the semi physical simulation system of the three-axis turntable is introduced. The hardware structure and control strategy of the system is presented. Its main controller is DSP TMS320LF2407 and the rotary transformer is used for position and velocity feedback. In order to promote the control performance of the traditional PID method, the velocity and acceleration forward PID control is proposed. It solves the contradiction between quickness and accuracy of position servo system. The experiment result shows that the system works well and the control accuracy is high. It can simulate the UAV flight attitude well. 