基于CompactRIO的四旋翼飞控实时仿真平台设计

Study of Real-Time Simulation Platform for Four-Rotor Flight Control System Based on CompactRIO

摘要:

针对四旋翼无人机实时飞行控制系统的控制算法设计与参数整定,设计了一种基于CompactRIO的飞行控制系统实时仿真平台,该平台使用两台CompactRIO作为主控制器,分别在其嵌入式实时系统(VxWorks)中运行Simulink设计的无人机动力学模型与飞行控制系统模型,并使用LabVIEW开发PC上位机监控程序,用于调整飞行状态和整定控制参数；经试验证明,该平台实用性强,可视化程度高,实时性好,能较好地对四旋翼飞控系统进行实时仿真验证。

Abstract:

For four-rotor real-time UAV flight control system design and algorithm parameter tuning, a flight control system based on CompactRIO real-time simulation platform is designed. This Platform using two CompactRIO as the main controller, respectively, in its embedded real-time systems (VxWorks) run UAV dynamics model and flight control system model designed by Simulink. LabVIEW is used to develop PC monitoring program to adjust flight status and set control parameters. The experiment proved that the platform is practical, and has high degree of visualization and real-time performance, can better for real-time simulation of four-rotor flight control system.