四旋翼无人机可视化半实物仿真平台研究  

Study on visual hardware-in-the-loop simulation platform for quadrotor unmanned aerial vehicles

作　　者：张垚[1] 鲜斌[1] 于琰平[1] 赵勃[1] 

机构地区：[1]天津大学电气与自动化工程学院天津大学机器人与自主系统研究所天津市过程检测与控制重点实验室,天津300072

出　　处：《仪器仪表学报》2012年第11期2572-2578,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60804004;90916004);教育部"新世纪"优秀人才支持计划(NECT-09-0590)资助项目

摘　　要：四旋翼无人机的飞行控制是当前无人机研究领域的一个热点,目前的控制设计多采用MATLAB/Simulink进行数值仿真验证,仿真环境中较少考虑机载设备的作用。而在无人机原型开发过程中,又多采用现场调试的方法,不易快速更改控制算法及参数。为提高飞行控制算法开发时的效率,设计并实现了一种四旋翼无人机可视化半实物仿真平台。利用MATLAB实时视窗系统搭建了平台的主框架,将四旋翼无人机的惯性导航传感器及电机控制系统融入平台之中。并且利用了开源飞行模拟软件FlightGear,及对虚拟地球仪软件Google Earth的二次开发,为仿真平台增添了无人机位置、姿态以及航迹的三维可视化显示功能。实验结果表明,该平台运行稳定可靠。There is a great growing interest in the flight control design of quadrotor unmanned aerial vehicles （ UAVs） in recent years. Numerical simulation based on MATLAB/Simulink has been widely utilized to verify the control design performance, but this method lacks considering the effects of the on-board devices. In the development process of prototype of quadrotor UAVs, it is not easy to modify the control algorithms and parameters during the field flight test. In order to improve the development efficiency and safety of flight control algorithm, a new hardware-in-the-loop （HITL） visual simulation testbed for quadrotor UAVs was developed. The real time windows target of MATLAB is employed to construct the main frame of the testbed, and the on-board devices of quadrotor UAV, such as the inertial measurement unit （IMU） and actuator control system, are also embedded in the testbed. The open source flight simulation software FlightGear and other software modules based on the re-development of Google Earth are integrated in the testbed to provide a virtual 3-dimensional display of the quadrotor UAV position, attitude and flight path. Experiment results are also included in this paper, which shows that the performance of the testbed is stable and reliable.

关 键 词：四旋翼无人机 半实物仿真 实时视窗目标 FLIGHTGEAR GOOGLE EARTH 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计] TH85[机械工程—仪器科学与技术]