CN109991875A - A comprehensive simulation system and method for unmanned aerial vehicle - Google Patents

Abstract

The invention relates to an unmanned aerial vehicle comprehensive simulation system and method, comprising two parts: a real-time simulation target machine and a main control computer. The real-time simulation target machine is a reinforced computer with CompactPCI architecture, running the LabView RT real-time system, which is used to solve the UAV model in real time, and is connected to the flight control computer through different ports of each board card, mainly composed of the main board (integrated graphics card, network card and USB interface, etc.), serial port expansion card (integrated with 8 serial ports), analog input card (integrated with 16 voltage signal input ports), analog output card (integrated with 8 voltage signal output ports), as well as keyboard and mouse etc. composition. The main control computer is a general-purpose computer, running the Windows operating system, and is mainly used for the development of the aircraft model, and the model is downloaded to the real-time simulation target machine through the Ethernet.

Description

A comprehensive simulation system and method for unmanned aerial vehicle

technical field

The invention belongs to the technical field of semi-physical simulation of unmanned aerial vehicles, and relates to a comprehensive simulation system and method of unmanned aerial vehicles, and a comprehensive simulation device and method based on LabView RT.

Background technique

UAV comprehensive simulation can effectively verify the correctness and reliability of flight control and navigation algorithms and avionics systems, and has become an important link before UAV flight tests. The high-confidence real-time integrated system is the basis of the comprehensive simulation test, and it is also an important means to effectively reduce the risk of flight test and shorten the development cycle.

At present, the well-known UAV comprehensive simulation device builds a real-time simulation system through Matlab/RTW or Matlab/VxWorks, and the simulation method is mainly based on the semi-physical simulation of the laboratory flight control system. The known patent (patent number ZL200910121123.X) uses Matlab/VxWorks as the framework to develop a real-time simulation computer, does not support the general driver of the application board, and the monitoring interface also needs to be developed with third-party software, and its real-time performance cannot be accurate to milliseconds It cannot meet the multi-task and high real-time simulation requirements of modern high-performance UAV systems.

SUMMARY OF THE INVENTION

technical problem to be solved

In order to avoid the deficiencies of the prior art, the present invention provides a comprehensive simulation system and method for an unmanned aerial vehicle.

Technical solutions

A comprehensive simulation system for unmanned aerial vehicles, which is characterized in that it includes a real-time simulation target machine and a main control computer; the main control computer is a general-purpose computer, runs a Windows operating system, and downloads a development aircraft model to the real-time simulation target machine through Ethernet The real-time simulation target machine is a reinforced computer of the CompactPCI architecture, running the LabView RT real-time system; the D/A signal generated by the steering gear is connected with the real-time simulation target machine through the A/D acquisition card; the real-time simulation target machine serial port: RS422 It is connected to the inertial navigation simulation module, and the output of the inertial navigation simulation module is connected to the serial port RS232 of the flight control computer; the serial port RS232 is connected to the heading sensor module, and the output of the heading sensor module is connected to the serial port RS232 of the flight control computer; RS232 port is connected with the GPS signal simulation module, the output of the GPS signal simulation module is connected to the A/D port of the flight control computer; the DA output card of the real-time simulation target machine: D/A is connected with the altitude signal simulation module, and the output of the altitude signal simulation module is connected The A/D port of the flight control computer, D/A is connected to the airspeed signal simulation module, and the output of the airspeed signal simulation module is connected to the A/D port of the flight control computer; during simulation, the steering gear signal is collected by the simulation target machine and then processed by the aircraft. For the solution of the model, the calculated flight parameters are sent to the flight control computer through analog quantities and serial ports, and the latter calculates the control and navigation algorithms according to these signals and the control commands of the ground station, and outputs the control quantities to the control rudder. machine deflection, thus forming a closed-loop comprehensive simulation.

A method for simulating by the described unmanned aerial vehicle comprehensive simulation system of claim 1, it is characterized in that the steps are as follows:

Step 1. Configure the LabVIEW RT real-time system: configure the real-time engine that will run in the real-time simulation target machine in the main control computer, including setting the IP address, port number, etc., and download it to the real-time simulation target machine through the network after the configuration is completed. Solidification; when using, download the program and model deployment to the RT engine of the real-time simulation target machine to run, the program debugging and data monitoring in the target machine are completely carried out through the main control computer, and the communication process is automatically completed by the RT development system and the RT engine ;

Step 2: The real-time simulation target machine runs the LabView RT real-time system, and performs real-time calculation on the UAV model transmitted by the main control computer;

Step 3: Take the steering gear and the flight control computer as the simulation objects, collect the feedback signal output by the steering gear according to the AD acquisition module, and simulate the target machine in real time to output the inertial navigation analog signal, the heading sensor analog signal and the GPS to the flight control computer through the serial port output module. Analog signal, output altitude and airspeed analog signal through DA output module.

After selecting the simulation target machine and the main control computer, you need to configure the LabVIEW RT real-time system, that is, configure the real-time engine that will run in the real-time simulation target machine in the main control computer, including setting the IP address, port number, etc. After completion, download to the target machine through the network and solidify. When in use, the program and model are deployed and downloaded to the RT engine of the real-time simulation target machine to run. The program debugging and data monitoring in the target machine are completely carried out by the main control computer, and the communication process is automatically completed by the RT development system and the RT engine.

After the real-time system configuration is completed, the simulation model can be developed. The six-degree-of-freedom model of the UAV is developed with SIMULINK of MATLAB, which mainly includes the UAV equation, aerodynamic data module, environment model, engine module, DA and serial output module, AD acquisition module, etc. The UAV equation directly calls the "6DoF(EulerAngles)" module in SIMULINK of MATLAB. The environment model mainly refers to the wind field influence module. The general square wave signal is used to simulate wind interference. The engine module establishes an interpolation table based on the engine test data. The AD acquisition module, DA output module and serial communication module need to be developed according to the base address and register of each board. The corresponding driver program is developed using the S-function in MATLAB's C language format.

After the hardware and software are all developed, the comprehensive simulation test can be carried out. The principle of the comprehensive simulation of the UAV is: the steering gear, flight control computer, airborne power supply, etc. are the simulation objects, and the simulation cable connects the simulation object and the real-time simulation target machine. to complete the communication between devices. The signal of the steering gear is collected by the simulated target machine and then the aircraft model is solved. The calculated flight parameters are sent to the flight control computer through analog quantities and serial ports. The latter performs control and navigation algorithms according to these signals and the control commands of the ground station. , and control the deflection of the steering gear by controlling the output of the control quantity, thus forming a closed-loop comprehensive simulation.

beneficial effect

A comprehensive simulation system and method for an unmanned aerial vehicle proposed by the present invention includes two parts: a real-time simulation target machine and a main control computer. The real-time simulation target machine is a reinforced computer with CompactPCI architecture, running the LabView RT real-time system, which is used to solve the UAV model in real time, and is connected to the flight control computer through different ports of each board card, mainly composed of the main board (integrated graphics card, network card and USB interface, etc.), serial port expansion card (integrated with 8 serial ports), analog input card (integrated with 16 voltage signal input ports), analog output card (integrated with 8 voltage signal output ports), as well as keyboard and mouse etc. composition. The main control computer is a general-purpose computer, running the Windows operating system, and is mainly used for the development of the aircraft model, and the model is downloaded to the real-time simulation target machine through the Ethernet.

The beneficial effects are:

1. It can be directly applied to the semi-physical simulation and comprehensive simulation of UAV as a test and simulation platform, so that the software and hardware problems of the UAV system can be quickly located through the closed-loop test method, which can effectively reduce the flight risk and shorten the development cycle.

2. The design process is simplified, the underlying program is universal, the amount of code required for manual development is extremely small, the upper-level program is easy to develop, and the driver program is fully compatible with the hardware.

3. High real-time performance, which can realize the operation step size below the millisecond level, so as to meet the multi-functional real-time simulation of more and more complex UAV systems.

4. Low cost and strong scalability. Once the system is configured, it can be used as a general platform for different types of UAV systems.

5. The development cycle is short, the operation is simple, and it can be promoted to users as a black box, so that users do not need to pay too much attention to the development and confidence of the simulation system, and focus more on the development of the UAV system itself.

Description of drawings

Fig. 1 is the composition schematic diagram of the device of the present invention;

Figure 2 is a schematic diagram of the composition of the comprehensive simulation model;

Fig. 3 is a signal flow diagram of the use process of the device of the present invention.

Detailed ways

The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

As shown in Figure 1, the comprehensive simulation device includes two parts: the main control computer and the real-time simulation target computer, wherein the main control computer is a high-performance industrial computer, which is mainly used for the configuration of the real-time system, the development of the simulation model, and the data retrieval. transmission and display, etc. The data communication between the main control computer and the real-time simulation target machine is carried out through the Ethernet network, and the real-time simulation target machine runs the LabView RT real-time system, which is used to solve the UAV model in real time. The composition of the UAV model is shown in Figure 2, which mainly includes the UAV six-degree-of-freedom equation module, aerodynamic data module, environmental data module, engine module, DA and serial output module, AD acquisition module, etc. These modules can directly call the package modules provided by MATLAB and load the data of the corresponding drone.

The steering gear and flight control computer are the simulation objects. The comprehensive simulation device collects the feedback signal output by the steering gear through the AD acquisition module, and outputs the inertial navigation analog signal, the heading sensor analog signal and the GPS analog signal through the serial port output module. Output altitude and airspeed analog signals through the DA output module.

Figure 3 shows the signal flow of the comprehensive simulation process. The ground control station transmits the control commands to the flight control computer through the ground and airborne data terminals. The embedded control and navigation algorithms are based on the obtained control commands and collected from the real-time simulation target machine. The difference between the flight parameters is used to control and solve the navigation law, and the solution results are output to control the servo steering gear, which in turn drives the UAV rudder surface to deflect to change the UAV's attitude, altitude and other parameters. The feedback signal of the steering gear is collected by the real-time simulation target machine at the same time, and the latter performs the real-time calculation of the six-degree-of-freedom model of the aircraft according to the feedback signal of the steering gear and the embedded wind tunnel experimental data, and outputs the obtained flight parameters to the flight controller. The computer is used to form a closed-loop simulation, and the closed-loop verification of objects such as the flight control computer and the steering gear is completed.

The method and steps of UAV closed-loop simulation based on comprehensive simulation device can be summarized as follows:

1. Complete the configuration of the main control computer and the real-time simulation target computer, and load it into the LabVIEW RT real-time system;

2. Develop and complete the six-degree-of-freedom model of the UAV on the main control computer, and load the wind tunnel test data and engine test data into the state space.

3. Connect the real-time simulation target machine to the UAV system through the simulation cable, and connect to the flight control computer, the steering gear and the airborne cable respectively.

4. Connect the main control computer and the real-time simulation target machine through Ethernet, power on the real-time simulation target machine, and download the developed UAV model to the real-time simulation target machine through Ethernet.

5. Power on the whole system, start the simulation, the integrated simulation device and the simulation object complete the closed-loop circulation of all signals according to the set simulation step size, monitor and store the simulation results through the ground station and the main control computer, and conduct the simulation according to the simulation outline. Each function of the object is simulated and tested one by one.

Claims (2)

1. an unmanned aerial vehicle comprehensive simulation system, it is characterized in that comprising real-time simulation target machine and main control computer; Described main control computer is general-purpose computer, runs Windows operating system, will develop aircraft model download to real-time simulation target by ethernet The real-time simulation target machine is a reinforced computer with CompactPCI architecture, running the LabView RT real-time system; the D/A signal generated by the steering gear is connected to the real-time simulation target machine through the A/D acquisition card; the real-time simulation target machine serial port : RS422 is connected to the inertial navigation simulation module, the output of the inertial navigation simulation module is connected to the serial port RS232 of the flight control computer; the serial port RS232 is connected to the heading sensor module, and the output of the heading sensor module is connected to the serial port RS232 of the flight control computer; The serial port RS232 is connected to the GPS signal simulation module, and the output of the GPS signal simulation module is connected to the A/D port of the flight control computer; the DA output card of the real-time simulation target machine: D/A is connected to the altitude signal simulation module, and the altitude signal simulation module The output is connected to the A/D port of the flight control computer, the D/A is connected to the airspeed signal simulation module, and the output of the airspeed signal simulation module is connected to the A/D port of the flight control computer; during simulation, the steering gear signal is collected by the simulation target machine. The aircraft model is solved, and the calculated flight parameters are sent to the flight control computer through analog quantities and serial ports. The latter calculates the control and navigation algorithms according to these signals and the control instructions of the ground station, and outputs the control quantities Control the deflection of the steering gear to form a closed-loop comprehensive simulation. 2. a method utilizing the described unmanned aerial vehicle comprehensive simulation system of claim 1 to carry out simulation, it is characterized in that step is as follows: Step 1. Configure the LabVIEW RT real-time system: configure the real-time engine that will run in the real-time simulation target machine in the main control computer, including setting the IP address, port number, etc., and download it to the real-time simulation target machine through the network after the configuration is completed. Solidification; when using, download the program and model deployment to the RT engine of the real-time simulation target machine to run, the program debugging and data monitoring in the target machine are completely carried out through the main control computer, and the communication process is automatically completed by the RT development system and the RT engine ; Step 2: The real-time simulation target machine runs the LabView RT real-time system, and performs real-time calculation on the UAV model transmitted by the main control computer; Step 3: Take the steering gear and the flight control computer as the simulation objects, collect the feedback signal output by the steering gear according to the AD acquisition module, and simulate the target machine in real time to output the inertial navigation analog signal, the heading sensor analog signal and the GPS to the flight control computer through the serial port output module. Analog signal, output altitude and airspeed analog signal through DA output module.