基于模型的预警无人机飞控系统开发与验证

Model-based Development of Police UAV

摘要:

为应对城市低空预警任务对固定翼无人机飞控系统自主飞行需求,采用基于模型设计方法完成无人机飞控系统开发与验证;开发过程中以飞控算法模型为中心,逐级开展飞控算法模型设计与数学仿真、算法快速原型验证以及飞控系统硬件产品实现;飞控算法模型在Matlab/Simulink平台中完成了构建及数学仿真验证,结合Higale系统提供的实时仿真环境完成算法快速原型验证,基于代码自动生成方式将算法模型自动转换为可在DSP中运行的实时代码,下载到飞控计算机中,进行硬件在回路仿真验证,并进一步进行整机地面验证;经过实践,所提出的飞控系统开发与验证流程可以将系统设计中存在的问题缺陷在开发早期暴露出来并及时修正,保证了系统研制进度、成本和品质。

Abstract:

For UAV-based urban airborne alert, a high reliability design and verification procedure is developed for the capability of autonomous path planning and autopilot controller of an unmanned aerial vehicle. Followed by model-based design pattern, the design and verification of flight control system is carried out step by step, control law software is designed and verificated, then rapid-prototyping and hardware in the loop. The control law software is developed in terms of Simulink model and simulated synchronously. The confirmed software is then compiled and download in Higale real-time system for rapid-prototyping. When DSP-based controller board is manufactured, control law software is downloaded, and hardware in the loop simulation is conducted. At last, full scale UAV ground test is proceeded and verified. With the proposed design and verification method, most faults are explored to and modified timely by the designer early in the program, which guarantees the progress, cost reduction and high quality.