基于MATLAB的无人机硬件在回路仿真技术研究
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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。
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.
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。
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.
引文
[1]淳于江民,张珩,无人机的发展现状与展望,飞航导弹,2005,(2):23~27
[2] Anonymous,Current and Future UAV Military Users and Applications,AIR & SPACE EUROPE,1999,1(5/6):51~58
[3]姜玉宪,朱恩,王卫红,控制系统仿真,北京,北京航空航天大学,1998:25~26
[4]刘延斌,金光,半实物仿真技术的发展现状,光机电信息,2003,(1):27~32
[5]康凤举,现代仿真技术与应用,北京,国防工业出版社,2001:55~64
[6]廖瑛,实时仿真理论与支撑技术,北京,国防科技大学出版社,1994:124~128
[7]申安玉,申学仁等,自动飞行控制系统,北京,国防工业出版社,2003.1:35~57
[8]黄一敏,孙传伟,直升机飞行控制系统的快速原型设计,飞行力学,2002.3,(20):5~9
[9]杨涤,杨旭等,系统实时仿真开发环境与应用,北京,清华大学出版社,2002:25~45
[10] Simulink User's Guide,24 Prime Park Way,Natick,Ma01760,USA,The Math Works Inc,April 1993:64~154
[11] Sobel KM,Shapiro EY,Application of eigenstructure assignment to flight control design Some extensions,Journal of Guidance,Control and Dynamics,1987,10(1):73~81
[12]张旺林,熊诗波,实验室基于MATLAB实时工作间的快速原型仿真系统的研究,科技情报开发与经济,2003.4,13(4):150~151
[13]肖卫国,尔联洁,双机状态半实物仿真系统时间延迟及其补偿研究,航天控制,2004,22(6):49~53
[14]王宁强,刘向东,卫星姿态控制系统硬件在回路仿真研究计,算机仿真,2005,22(10):78~81
[15]刘晓宁,褚建川,仿真计算机及实时网络技术的应用和发展,计算机仿真,2003,20(8):1~3
[16] Feng Liang,Rapid Development of UAV Autopilot Using MATLAB/Simulink,American Institute of Aeronautics and Astronautics,AIAA Modeling and Simulation Technologies Conference and Exhibit 5-8 August 2002:1~10
[17]肖田元,张燕云,陈加栋,系统仿真导论,北京:清华大学出版社,2000:23~29
[18]杨辰,杜国宁,朱仲英,一种基于Matlab的实时仿真系统设计,微型电脑应用,2003 19(6):10~11
[19]路静,李亚伟,利用MEX实现对硬件的实时处理和仿真,现代电子技术,2003,(3):59~61
[20] Holger Spangenberg,Holger Friehmelt,Hardware-in-the-Loop Simulation with Flight Control Actuators,AIAA Modeling and Simulation Technologies Conference and Exhibit,August 2005:15~18
[21]吴了泥,演示样机无动力横侧向控制律设计,[硕士学位论文],南京,南京航空航天大学,2005
[22]唐斌,无人机自动起飞/着陆控制技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[23]张明廉主编,飞行控制系统,北京,航空工业出版社,1994:13~16
[24] [德]鲁道夫,布罗克豪斯著,飞行控制(金长江译),北京,国防工业出版社,1999: 122~368
[25] Sergio de LaParra,Javier Angel,Low cost navigation system for UAV's,Aerospace Science and Technology,2005,9(6):504~516
[26] Farineau J,Lateral Electric Flight Control Laws of A320 Based upon Eigenstructure Assignment Technique,AIAA Guidance,Navigation and Control Conference,Washington, DC,American Institute of Aeronautics and Astronautics,1989:1367~1372
[27]耿通奋,无人机实时仿真与测试系统综合设计,[硕士学位论文],南京,南京航空航天大学,2003
[28] Cao Yunfeng,Tao Yong,Guidance and control for automatic landing of UAV,Transaction of Nanjing University of Aeronautics & Astronautics,2001,18(2):229~235
[29] Stevens BL,Lewis FL,Aircraft control and simulation,John Wiley & Sons.Inc,1992::99~109
[30] Isaac I. Kaminer,Oleg A. Yakimenko,Vladimir N. Dobrokhodov,Kevin D Jones,Rapid Flight Test Prototyping System and the Fleet of UAVsand MAVs at the Naval Postgraduate School,AIAA 3rd "Unmanned Unlimited" Technical Conference,Workshop and Exhibit 20-23 September 2004:1~6
[31] Bemporad Albet,MorariManfred,Control integrity the logic dynamics and constraints,Automatic,1999,(35): 407~427
[32]陈桂明,应用Matlab建模与仿真,北京,科学出版社,2001:45~46
[33]薛定宇,科学运算语言Matlab 5. 3程序设计与应用,北京,清华大学出版社,2000:56~65
[34]王行仁,飞行实时仿真系统及技术,北京,北京航空航天大学出版社,1998:134~145
[35] Roberto Saco,Eduardo Pires,Carlos Godfrid,Real Time Controlled Laboratory Plant for Control Education,Frontiers in Education,2002,32nd Annual:134~141
[36]李升波,王建强,李克强,硬件在环仿真试验台监控系统的设计与开发,系统仿真学,2007,19(16):3684~3687
[37]王俊国,王永骥,MATLAB图形用户界面环境下的实时控制系统,仪表技术与传感器,2004,(9):27~29
[38] Grega W,Kolek K,Simulation and real-time control,from Simulink to industrial applications,Computer Aided Control System Design,2002 Proceeding:101~106
[39] Ichinose M,Yokoyama A,Nishigaito T,Development of Hardware-In-the-Loop Simulator for Adaptive Cruise Control System,Proceedings of AVEC’02 Japan AVEC’02 Organizing Committee in JSAE,2002:207-212
[40] Eric N. Johnson,Daniel P. Schrage,J.V.R. Prasad,George J.Vachtsevanos,UAV Flight Test Programs at Georgia Tech , AIAA 3rd"Unmanned Unlimited"Technical Conference, Workshop and Exhibit 20-23 September,2004:1~13
[2] Anonymous,Current and Future UAV Military Users and Applications,AIR & SPACE EUROPE,1999,1(5/6):51~58
[3]姜玉宪,朱恩,王卫红,控制系统仿真,北京,北京航空航天大学,1998:25~26
[4]刘延斌,金光,半实物仿真技术的发展现状,光机电信息,2003,(1):27~32
[5]康凤举,现代仿真技术与应用,北京,国防工业出版社,2001:55~64
[6]廖瑛,实时仿真理论与支撑技术,北京,国防科技大学出版社,1994:124~128
[7]申安玉,申学仁等,自动飞行控制系统,北京,国防工业出版社,2003.1:35~57
[8]黄一敏,孙传伟,直升机飞行控制系统的快速原型设计,飞行力学,2002.3,(20):5~9
[9]杨涤,杨旭等,系统实时仿真开发环境与应用,北京,清华大学出版社,2002:25~45
[10] Simulink User's Guide,24 Prime Park Way,Natick,Ma01760,USA,The Math Works Inc,April 1993:64~154
[11] Sobel KM,Shapiro EY,Application of eigenstructure assignment to flight control design Some extensions,Journal of Guidance,Control and Dynamics,1987,10(1):73~81
[12]张旺林,熊诗波,实验室基于MATLAB实时工作间的快速原型仿真系统的研究,科技情报开发与经济,2003.4,13(4):150~151
[13]肖卫国,尔联洁,双机状态半实物仿真系统时间延迟及其补偿研究,航天控制,2004,22(6):49~53
[14]王宁强,刘向东,卫星姿态控制系统硬件在回路仿真研究计,算机仿真,2005,22(10):78~81
[15]刘晓宁,褚建川,仿真计算机及实时网络技术的应用和发展,计算机仿真,2003,20(8):1~3
[16] Feng Liang,Rapid Development of UAV Autopilot Using MATLAB/Simulink,American Institute of Aeronautics and Astronautics,AIAA Modeling and Simulation Technologies Conference and Exhibit 5-8 August 2002:1~10
[17]肖田元,张燕云,陈加栋,系统仿真导论,北京:清华大学出版社,2000:23~29
[18]杨辰,杜国宁,朱仲英,一种基于Matlab的实时仿真系统设计,微型电脑应用,2003 19(6):10~11
[19]路静,李亚伟,利用MEX实现对硬件的实时处理和仿真,现代电子技术,2003,(3):59~61
[20] Holger Spangenberg,Holger Friehmelt,Hardware-in-the-Loop Simulation with Flight Control Actuators,AIAA Modeling and Simulation Technologies Conference and Exhibit,August 2005:15~18
[21]吴了泥,演示样机无动力横侧向控制律设计,[硕士学位论文],南京,南京航空航天大学,2005
[22]唐斌,无人机自动起飞/着陆控制技术研究,[硕士学位论文],南京,南京航空航天大学,2007
[23]张明廉主编,飞行控制系统,北京,航空工业出版社,1994:13~16
[24] [德]鲁道夫,布罗克豪斯著,飞行控制(金长江译),北京,国防工业出版社,1999: 122~368
[25] Sergio de LaParra,Javier Angel,Low cost navigation system for UAV's,Aerospace Science and Technology,2005,9(6):504~516
[26] Farineau J,Lateral Electric Flight Control Laws of A320 Based upon Eigenstructure Assignment Technique,AIAA Guidance,Navigation and Control Conference,Washington, DC,American Institute of Aeronautics and Astronautics,1989:1367~1372
[27]耿通奋,无人机实时仿真与测试系统综合设计,[硕士学位论文],南京,南京航空航天大学,2003
[28] Cao Yunfeng,Tao Yong,Guidance and control for automatic landing of UAV,Transaction of Nanjing University of Aeronautics & Astronautics,2001,18(2):229~235
[29] Stevens BL,Lewis FL,Aircraft control and simulation,John Wiley & Sons.Inc,1992::99~109
[30] Isaac I. Kaminer,Oleg A. Yakimenko,Vladimir N. Dobrokhodov,Kevin D Jones,Rapid Flight Test Prototyping System and the Fleet of UAVsand MAVs at the Naval Postgraduate School,AIAA 3rd "Unmanned Unlimited" Technical Conference,Workshop and Exhibit 20-23 September 2004:1~6
[31] Bemporad Albet,MorariManfred,Control integrity the logic dynamics and constraints,Automatic,1999,(35): 407~427
[32]陈桂明,应用Matlab建模与仿真,北京,科学出版社,2001:45~46
[33]薛定宇,科学运算语言Matlab 5. 3程序设计与应用,北京,清华大学出版社,2000:56~65
[34]王行仁,飞行实时仿真系统及技术,北京,北京航空航天大学出版社,1998:134~145
[35] Roberto Saco,Eduardo Pires,Carlos Godfrid,Real Time Controlled Laboratory Plant for Control Education,Frontiers in Education,2002,32nd Annual:134~141
[36]李升波,王建强,李克强,硬件在环仿真试验台监控系统的设计与开发,系统仿真学,2007,19(16):3684~3687
[37]王俊国,王永骥,MATLAB图形用户界面环境下的实时控制系统,仪表技术与传感器,2004,(9):27~29
[38] Grega W,Kolek K,Simulation and real-time control,from Simulink to industrial applications,Computer Aided Control System Design,2002 Proceeding:101~106
[39] Ichinose M,Yokoyama A,Nishigaito T,Development of Hardware-In-the-Loop Simulator for Adaptive Cruise Control System,Proceedings of AVEC’02 Japan AVEC’02 Organizing Committee in JSAE,2002:207-212
[40] Eric N. Johnson,Daniel P. Schrage,J.V.R. Prasad,George J.Vachtsevanos,UAV Flight Test Programs at Georgia Tech , AIAA 3rd"Unmanned Unlimited"Technical Conference, Workshop and Exhibit 20-23 September,2004:1~13