基于xPC Target的无人机飞行控制软件快速原型设计
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摘要
无人机广泛的应用价值、尤其是在军事上的重要性已经得到国内外的高度重视。本文给出了一种适于无人机飞行控制软件的快速原型设计和实现技术,着眼于实践和应用。该快速原型设计是在传统的无人机飞行控制系统基础上,采用xPC Target宿主机-目标机方式实现。整个快速原型设计平台主要由宿主机、目标机和小型化仿真设备组成。其中宿主机主要用于开发;目标机是飞行控制计算机,用于运行快速原型生成的可执行代码;小型化仿真设备属于宿主机-目标机方式的外围设备,用于运行系统的被控对象无人机数学模型。
本文根据xPC Target驱动设计技术,开发了飞行控制计算机硬件NUAACOM8非标准板卡的自定义驱动软件,解决了串口通讯问题。
本文根据xPC Target用户交互界面技术,利用Tilcon Real-Time Developer (TRTD)实时程序开发包,在Windows下开发了飞行控制系统控制台软件,实现了控制目标代码、传感器信号显示、执行机构输出值回报显示、遥控遥调、控制律参数在线调参、航迹显示和历史曲线显示。
本文根据实验室飞行控制代码,在Simulink下对飞行控制代码进行了模块化和集成,模块化了传感器模块、执行机构模块、自主导航控制逻辑模块。这为基于xPC Target的快速原型设计方法提供了实验验证对象。
最后,对基于xPC Target的快速原型设计的飞行控制软件在半物理条件下进行了实时仿真实验,结果表明该设计在工程中是切实可行的。
As great benefits are got from the applications of UAV (unmanned aerial vehicle),especially the applications in military, more and more attentions are paid to the development of UAV in the world.In this paper,the design and realization technology suitable for rapid prototyping design of UAV Flight Control System are presented.The practice and application is emphasized.That rapid prototyping design using Host-Target mode of xPC Target is based on traditional UAV Flight Control System.The whole platform of rapid prototyping design include Host PC,Target PC and miniature simulation equipment.Host PC is used in developing;Target PC is a flight control computer which is running execution code;Miniature simulation equipment is the peripheral equipment of the Host-Target mode which is running UAV model.
According to driving designing of xPC Target, this paper designs software driving of the non standard plate card of NUAACOM8.That sloves the problem of serial port communication.
According to xPC Target user interactive interfacial technology, this paper realizes controlling target, display of sensors singal, the output of actuator, remote control and adjustment,adjusting parameters on-line,display of flight path and display of historical curves.
According to the code of the flight control,this paper modulars and integrates the code of flight control in the simulink.This paper modulars sensors,actuator, remote control and adjustment,control logic of automatic navigation and control law.That provides experimental object for the way of rapid prototyping design of Flight Control System with xPC Target.
Finally,we carry out the way of rapid prototyping design of Flight Control System with xPC Target of half physical simulation experiment.The result shows that the design is conscientiously feasible in project.
本文根据xPC Target驱动设计技术,开发了飞行控制计算机硬件NUAACOM8非标准板卡的自定义驱动软件,解决了串口通讯问题。
本文根据xPC Target用户交互界面技术,利用Tilcon Real-Time Developer (TRTD)实时程序开发包,在Windows下开发了飞行控制系统控制台软件,实现了控制目标代码、传感器信号显示、执行机构输出值回报显示、遥控遥调、控制律参数在线调参、航迹显示和历史曲线显示。
本文根据实验室飞行控制代码,在Simulink下对飞行控制代码进行了模块化和集成,模块化了传感器模块、执行机构模块、自主导航控制逻辑模块。这为基于xPC Target的快速原型设计方法提供了实验验证对象。
最后,对基于xPC Target的快速原型设计的飞行控制软件在半物理条件下进行了实时仿真实验,结果表明该设计在工程中是切实可行的。
As great benefits are got from the applications of UAV (unmanned aerial vehicle),especially the applications in military, more and more attentions are paid to the development of UAV in the world.In this paper,the design and realization technology suitable for rapid prototyping design of UAV Flight Control System are presented.The practice and application is emphasized.That rapid prototyping design using Host-Target mode of xPC Target is based on traditional UAV Flight Control System.The whole platform of rapid prototyping design include Host PC,Target PC and miniature simulation equipment.Host PC is used in developing;Target PC is a flight control computer which is running execution code;Miniature simulation equipment is the peripheral equipment of the Host-Target mode which is running UAV model.
According to driving designing of xPC Target, this paper designs software driving of the non standard plate card of NUAACOM8.That sloves the problem of serial port communication.
According to xPC Target user interactive interfacial technology, this paper realizes controlling target, display of sensors singal, the output of actuator, remote control and adjustment,adjusting parameters on-line,display of flight path and display of historical curves.
According to the code of the flight control,this paper modulars and integrates the code of flight control in the simulink.This paper modulars sensors,actuator, remote control and adjustment,control logic of automatic navigation and control law.That provides experimental object for the way of rapid prototyping design of Flight Control System with xPC Target.
Finally,we carry out the way of rapid prototyping design of Flight Control System with xPC Target of half physical simulation experiment.The result shows that the design is conscientiously feasible in project.
引文
[1] Xu Yong,Jiang Fukang,Scott Newbern,eta, Flexible shear~stress sensor skin and its application to unmanned aerial vehicles,Sensors and Actuators A,2003,105 (3):321~329
[2] Sung Kyung Hong,Fuzzy logic based closed loop strapdown attitude system for unmanned aerial vehicle,Sensors and Actuators A ,2003,107 (1):109~118
[3]路蔼梅,李新军,何进,王松.一种无人机通用综合检测系统,北京航空航天大学学报,2006,32(1):27~30
[4]骆训纪.无人机航迹系统研究,测控技术,2002,21(11):47~50
[5] Current and Future UAV Military Users and Applications,AIR & SPACE EUROPE,1999,1(5/6):51~58
[6]耿通奋,黄一敏.小型无人机实时仿真系统研究,计算机仿真,2004,21(9):31~33
[7] Giovanni Mengali,Role of Eigenvectors in Aircraft Dynamics Optimization,Journal of Guidance,Control and Daynamics,vol.26,no.2,March-April 2003:42~45
[8] Flight Simulation For The Development of an Experimental UAV Eric N. Johnson and Sumit Mishra School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150:80~82
[9] Simulink User's Guide, 24 Prime Park Way, Natick, Ma01760, USA, The Math Works Inc, April 1993:456~460
[10] Mathworks Inc xPC Target Version 3.1[R] (R2006b):502~504
[11] Mike Dicken. Rapid Prototyping and Hardware-in-the-Loop Simulation with xPC Target:Control Application:210~211
[12]杨涤等.系统实时仿真开发环境与应用[M].北京:清华大学出版社,2002:250~251
[13] The MATHWORKS, xPC Target For Use with Real-Time Workshop (User’s Guide Version 1):241~242
[14]张乐飞,刘利,王旭永.基于xPC实时控制的中空液压马达伺服系统的研究.液压与气动.2005年6期:46~47
[15]王超,王仕成,刘志国.基于Matlab/xPC Target的实时仿真系统研究.控制工程,2007年2期:50~51
[16]朱承元,杨涤,翟坤. SAR卫星姿态控制实时仿真系统结构与实现.计算机仿真,2004年4月,第21卷第4期:151~154
[17]王宁强,刘向东.卫星姿态控制系统硬件在回路仿真研究计[J].算机仿真.2005.10.第22卷第10期:78~81
[18]吴桂楠,吴成富,陈怀民.实时仿真设备驱动程序开发技术研究.计算机仿真,2005年4月第22卷第4期,32~35
[19]黄一敏,孙传伟,高正.直升机飞行控制系统的快速原型设计[J].飞行力学, 2002年3月,第20卷第1期:5~9
[20] 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
[21] Mooij, E. Linear quadratic regulator re-entry control-Performance assessment using a Taguchi approach[J]. AIAA98-1629, p 665~675
[22] Michael Vetsch, The MathWorks, Inc. Improving Embedded Product Design Using Mode-Based Real-Time Test. Technology Leadership Day, HTA Luzern, Oct11, 2005:120~121
[23]李光玮,叶磊,黄柯棣基于MATLAB/xPC Target构建实时仿真系统.计算机仿真,2003年8月第20卷第8期:113~118
[24] Mathworks Inc xPC Target Version 3.1[R] (R2006b):302~305
[25]樊晓丹,孙应飞,李衍达.一种基于RTW的实时控制系统快速开发方法.清华大学学报(自然科学版),2003年第43卷第7期:895~898.
[26]张明廉等.飞行控制系统[M].北京.国防工业出版社,1985:190~195
[27] Seokrim Choi,Jun Seok Lim,Sugjoon Yoon,Landing Angle Estimation Algorithm for UAV,Lecture Notes in Computer Science,2005,3398:107~112
[28]郭锁风,申建章,吴成富.先进飞行控制系统[M].北京.国防工业出版社,2003:202~204
[29] Fujimori A,Kurozumi M,Nikiforuk P N,A flight control design of ALFLEX using double loop control system,AIAA Guidance, Navigation, and Control Conference, American Institute of Aeronautics and Astronautics,1999:583~592
[30] An Open Control Platform For Reconfigurable,Distributed, Hierachical Control Systems Linda Wills, 1 Sam Sander,1 Suresh Kannan, 2 Aaron Kahn, 2 J.V.R. Prasad,2 Daniel Schrage School of Electrical & Computer Engineering, 2 School of Aerospace EngineeringGeorgia Institute of Technology, Atlanta, GA 30332:87~88
[31] Fu, S. J. (Boeing Military Airplane Co.), Aircraft guidance for formation flying based on optimal control theory, 1987 American Control Conference, 6th, Minneapolis, MN, June 10-12, 1987, Proceedings. Volume 1 (A88-27301 10-63):56~58
[32] J D Blight, R L Dailey and D Gangsaas. Practical control law design for aircraft using multivariable technique[J], International Journal of Control, 1994,59(1):93~137
[33]曲东才,董文洪,微型无人机军事价值及关键技术分析,中国航空学会控制与应用第十届学术年会论文集,北京,中国航空学会自动控制专业分会组委会,2002:137~140
[34]马启鑫,RLV自动着陆段纵向控制律设计,[硕士学位论文],南京,南京航空航天大学,2005
[35] Stevens B L, Lewis F L. Aircraft control and simulation [M]. New York: John Wiley & sons, INC, 1993:359~399
[36]孙春贞,无人机最简控制系统,[硕士学位论文],南京,南京航空航天大学,2003
[37]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
[38] 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
[39] Hugh H T Liu. Multi-objective integrated flight control[J]. AIAA-2001-4103, 2001:24~25
[40]姜玉宪.《控制系统仿真》北京航空航天大学出版社1998:205~210
[2] Sung Kyung Hong,Fuzzy logic based closed loop strapdown attitude system for unmanned aerial vehicle,Sensors and Actuators A ,2003,107 (1):109~118
[3]路蔼梅,李新军,何进,王松.一种无人机通用综合检测系统,北京航空航天大学学报,2006,32(1):27~30
[4]骆训纪.无人机航迹系统研究,测控技术,2002,21(11):47~50
[5] Current and Future UAV Military Users and Applications,AIR & SPACE EUROPE,1999,1(5/6):51~58
[6]耿通奋,黄一敏.小型无人机实时仿真系统研究,计算机仿真,2004,21(9):31~33
[7] Giovanni Mengali,Role of Eigenvectors in Aircraft Dynamics Optimization,Journal of Guidance,Control and Daynamics,vol.26,no.2,March-April 2003:42~45
[8] Flight Simulation For The Development of an Experimental UAV Eric N. Johnson and Sumit Mishra School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0150:80~82
[9] Simulink User's Guide, 24 Prime Park Way, Natick, Ma01760, USA, The Math Works Inc, April 1993:456~460
[10] Mathworks Inc xPC Target Version 3.1[R] (R2006b):502~504
[11] Mike Dicken. Rapid Prototyping and Hardware-in-the-Loop Simulation with xPC Target:Control Application:210~211
[12]杨涤等.系统实时仿真开发环境与应用[M].北京:清华大学出版社,2002:250~251
[13] The MATHWORKS, xPC Target For Use with Real-Time Workshop (User’s Guide Version 1):241~242
[14]张乐飞,刘利,王旭永.基于xPC实时控制的中空液压马达伺服系统的研究.液压与气动.2005年6期:46~47
[15]王超,王仕成,刘志国.基于Matlab/xPC Target的实时仿真系统研究.控制工程,2007年2期:50~51
[16]朱承元,杨涤,翟坤. SAR卫星姿态控制实时仿真系统结构与实现.计算机仿真,2004年4月,第21卷第4期:151~154
[17]王宁强,刘向东.卫星姿态控制系统硬件在回路仿真研究计[J].算机仿真.2005.10.第22卷第10期:78~81
[18]吴桂楠,吴成富,陈怀民.实时仿真设备驱动程序开发技术研究.计算机仿真,2005年4月第22卷第4期,32~35
[19]黄一敏,孙传伟,高正.直升机飞行控制系统的快速原型设计[J].飞行力学, 2002年3月,第20卷第1期:5~9
[20] 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
[21] Mooij, E. Linear quadratic regulator re-entry control-Performance assessment using a Taguchi approach[J]. AIAA98-1629, p 665~675
[22] Michael Vetsch, The MathWorks, Inc. Improving Embedded Product Design Using Mode-Based Real-Time Test. Technology Leadership Day, HTA Luzern, Oct11, 2005:120~121
[23]李光玮,叶磊,黄柯棣基于MATLAB/xPC Target构建实时仿真系统.计算机仿真,2003年8月第20卷第8期:113~118
[24] Mathworks Inc xPC Target Version 3.1[R] (R2006b):302~305
[25]樊晓丹,孙应飞,李衍达.一种基于RTW的实时控制系统快速开发方法.清华大学学报(自然科学版),2003年第43卷第7期:895~898.
[26]张明廉等.飞行控制系统[M].北京.国防工业出版社,1985:190~195
[27] Seokrim Choi,Jun Seok Lim,Sugjoon Yoon,Landing Angle Estimation Algorithm for UAV,Lecture Notes in Computer Science,2005,3398:107~112
[28]郭锁风,申建章,吴成富.先进飞行控制系统[M].北京.国防工业出版社,2003:202~204
[29] Fujimori A,Kurozumi M,Nikiforuk P N,A flight control design of ALFLEX using double loop control system,AIAA Guidance, Navigation, and Control Conference, American Institute of Aeronautics and Astronautics,1999:583~592
[30] An Open Control Platform For Reconfigurable,Distributed, Hierachical Control Systems Linda Wills, 1 Sam Sander,1 Suresh Kannan, 2 Aaron Kahn, 2 J.V.R. Prasad,2 Daniel Schrage School of Electrical & Computer Engineering, 2 School of Aerospace EngineeringGeorgia Institute of Technology, Atlanta, GA 30332:87~88
[31] Fu, S. J. (Boeing Military Airplane Co.), Aircraft guidance for formation flying based on optimal control theory, 1987 American Control Conference, 6th, Minneapolis, MN, June 10-12, 1987, Proceedings. Volume 1 (A88-27301 10-63):56~58
[32] J D Blight, R L Dailey and D Gangsaas. Practical control law design for aircraft using multivariable technique[J], International Journal of Control, 1994,59(1):93~137
[33]曲东才,董文洪,微型无人机军事价值及关键技术分析,中国航空学会控制与应用第十届学术年会论文集,北京,中国航空学会自动控制专业分会组委会,2002:137~140
[34]马启鑫,RLV自动着陆段纵向控制律设计,[硕士学位论文],南京,南京航空航天大学,2005
[35] Stevens B L, Lewis F L. Aircraft control and simulation [M]. New York: John Wiley & sons, INC, 1993:359~399
[36]孙春贞,无人机最简控制系统,[硕士学位论文],南京,南京航空航天大学,2003
[37]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
[38] 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
[39] Hugh H T Liu. Multi-objective integrated flight control[J]. AIAA-2001-4103, 2001:24~25
[40]姜玉宪.《控制系统仿真》北京航空航天大学出版社1998:205~210