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

作　　者：袁源 Yuan Yuan(China merchants Chongqing Highway Engineering Testing Center Co.,Ltd.,Chongqing 400067,China)

机构地区：[1]招商局重庆公路工程检测中心有限公司,重庆400067

出　　处：《计算机测量与控制》2021年第1期174-178,共5页Computer Measurement &Control

基　　金：重庆市社会事业与民生保障科技创新专项重点研发项目(cstc2017shms-zdyfX0007)。

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。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 unmanned 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 completed 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.

关 键 词：四旋翼无人机 PID控制 滑模控制 半实物仿真平台 基于模型设计 代码自动生成 

分 类 号：V279[航空宇航科学与技术—飞行器设计]