四旋翼虚拟仿真实验平台开发与实践  

Development and practice of quadrotor virtual simulation experiment platform

作　　者：常广晖[1] 苏攀[1] 张亚超 刘树勇[1] CHANG Guanghui;SU Pan;ZHANG Yachao;LIU Shuyong(College of Power Engineering,Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学动力工程学院,湖北武汉430033

出　　处：《实验技术与管理》2023年第8期106-113,119,共9页Experimental Technology and Management

基　　金：国家自然科学基金项目(51579242);海军工程大学教学成果立项培育项目(202106)。

摘　　要：传统的四旋翼飞行器控制实验平台价格昂贵,实验开展过程容易受场地、学生数量和气候等条件的限制,该矛盾在“控制原理与技术”课程教学中尤为突出。针对以上问题,该文提出一种基于半物理仿真的四旋翼虚拟实验平台设计方案,并详细介绍了平台的关键技术,包括四旋翼物理模型建立、自定义目标软硬件实现,以及虚拟四旋翼与嵌入式目标之间的通信方法等。通过该虚拟仿真实验平台,可开展飞行器建模和飞行姿态控制等综合性实验,让学生掌握控制技术的实际应用方法,激发学生学习兴趣。The traditional quadrotor control experiment platform is expensive,the experiment is easy to be limited by the site,the number of students,climate and other conditions,and the contradiction is prominent in the“Control principle and technology”teaching.In view of the above problems,a design scheme of virtual quadrotor experiment platform based on semi-physical simulation is proposed,and the key technology of the platform is introduced in detail.The physical model of the quadrotor is established,the hardware and software of the custom target is realized,and the communication method between the virtual quadrotor and the embedded target is given.Through the virtual simulation experiment platform,aircraft modeling,flight attitude control and other comprehensive experiments can be conducted,allowing students to master the practical application of control technology,while entertaining and stimulating students’learning interests.

关 键 词：四旋翼 半物理仿真 基于模型设计 嵌入式目标 虚拟实验 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论] G642[自动化与计算机技术—计算机科学与技术]