基于模型的四旋翼无人机半实物仿真平台研究

Research on Semi-Physical Simulation Platform of QUAV With Model-Based Design

摘要:

为了降低在真实飞行器上测试新的控制策略时所存在的设备损坏风险,对四旋翼无人机的控制器和半实物仿真实验平台进行了开发和介绍。首先,分析了四旋翼无人机基本结构和飞行原理,并对其进行了动力学建模。其次,设计了对应的常规PID控制器和滑模控制器,并进行了Matlab仿真对比和分析；最后,展示了采用先进的基于模型的设计方法和代码自动等技术的半实物仿真实验平台,并详细介绍了其硬件和软件的总体架构和不同模块的配置。仿真结果表明所设计滑模控制器相比于PID控制器有更好的控制效果,并给出了其在半实物仿真平台上用来研究四旋翼无人机姿态控制的可行性。

Abstract:

In order to reduce the risk of equipment damages when testing the new control strategies on the real aircraft, the controllers and the semi-physical simulation experiment platform of the quadrotor unnamed aerial vehicle (QUAV) are developed and introduced. Firstly, the basic structure and flight principle of the QUAV are analyzed, and the dynamic modeling is carried out. Secondly, the conventional PID controller and sliding mode controller are designed accordingly, and finished the corresponding Matlab simulation for comparison and analysis. Finally, the semi-physical simulation platform using advanced model-based design methods and code automation technologies is presented, and the overall architecture of hardware and software and the configuration of different modules are introduced in detail. The simulation results show that the designed sliding mode controller has better performance than the PID controller, and the feasibility of using the controllers to study the attitude control of the QUAV on the semi-physical simulation platform is also given.