【作者】 宋炜；

【导师】 祖家奎；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2008， 硕士

【摘要】 近年来,鉴于无人机技术在军事和民用领域广阔的发展前景,使得无人机及其飞行控制技术的研制在世界范围内得到了蓬勃发展。先进的控制系统是改善系统性能、保证系统安全、提高系统效率的关键;而硬件在回路仿真能在无人机控制系统开发早期认识系统中所存在的问题,并能在实时环境下修正软、硬件,这样就为进一步高效的实际系统测试和科研试飞做好了准备。本文针对无人机飞行控制系统仿真的特点,以及控制系统设计的新要求,提出了利用MATLAB提供的硬件在回路仿真环境进行无人机飞行控制系统的仿真技术研究。论文详细论述了构建基于宿主机和目标机模式的无人机飞行控制系统硬件在回路仿真平台的关键技术和实现方法。首先,利用Simulink建立系统模型;然后,利用MATLAB平台下的RTW及xPC Target等工具箱将模型转化为可以在目标机上实时运行的代码,并通过硬件I/O接口构建硬件在回路仿真平台;最后,以某型无人机为样例,构建完整的基于MATLAB的无人机飞行控制系统硬件在回路仿真平台,并进行试验验证和分析。样例无人机的硬件在回路仿真结果,证明了基于MATLAB的硬件在回路仿真技术在构建无人机快速仿真平台方面的可行性及有效性。该技术方案能将PC机转变为实时控制系统,并将其作为飞行控制系统的仿真实现平台,且具有通用、快速、灵活、低成本的特点。该技术的研究对于飞行控制系统快速原型设计和硬件在回路仿真具有深刻的工程背景和应用价值。更多还原

【Abstract】 Recently, Unmanned Aerial Vehicle(UAV)and its flight control technology have drawn considerable attention, due to their promising benefits in both civilian and military applications. This field has been studied quite extensively in the recent years. The advanced control system is the key of improving system performance, security and efficiency. Hardware-in-the-loop simulation provides us a good means to recognize problems as early as possible in the developing process of UAV flight control system. Simultaneity, such a control system testing environment also provides a technical means to optimize its hardware and software under real-time conditions.According to the characteristics and new technical requirements of UAV flight control system, this thesis is engaged in researching on the hardware-in-the-loop simulation techniques of UAV flight control system based on MATLAB.This paper elaborated the essential technology and the realization method based on host PC and target PC model which can be established to provide the functions such as flight control system hardware-in-the-loop simulation platform. Firstly, system is established by Simulink; then, the RTW and the xPC Target toolboxes based on MATLAB are adopted to translate these models into real-time codes, and to construct the hardware-in-the-loop simulation platform through the actual hardware I/O interface; Finally, an actual system of hardware-in-the-loop simulation for a certain UAV is developed and realized, the results is presented, which is also validating the excellent performances of the simulation system.The results of its simulation, prove that the technique of hardware-in-the-loop simulation via Matlab is available and feasible for flight control system of UAV. This technique can transform PC into the real-time system, and takes it as the realization platform of flight control system, it also has the characteristics of general, fast, extendible, low cost, and so on. The successful research of this technique has a significant project and application values in flight control system simulation of UAV.更多还原