无人机实时飞行仿真系统的设计与实现
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摘要
本文主要介绍了如何建立模拟无人机飞行的飞行仿真系统,详细分析了实时飞行仿真系统的建模需求、建模方法及仿真模型的构建。文中以某无人机为原型,完成了飞行动力学仿真模型的建立和无人机飞行仿真系统软件的开发工作,并且利用仿真结果对无人机模型的飞行特性进行了分析评估。主要研究内容如下:
1.讨论了设计开发飞行仿真系统面向对象的建模方法,构建了本系统的模块结构,为本文的建模工作提供了总体框架,并分析了模块的划分情况和各模块的功能。
2.飞行仿真系统的详细建模过程。该系统主要由空气动力模型、飞行动力学方程模型、飞行控制模型、动力系统模型和大气环境模型等构成。
3.仿真系统的实现。运用DirectX、面向对象编程等技术,实现了基于PC机的三维虚拟飞行仿真系统。该仿真系统通过人机交互飞行,可以直观地显示无人机的飞行姿态与轨迹,同时也可记录分析仿真飞行数据。
4.基于飞行仿真系统得到的结果数据,对无人机模型的稳定性与操纵性能及弹射起飞过程中的飞行特性变化进行了分析评估。
The article mainly introduces how to build the flight simulation system which can reflect the flight of unmanned aerial vehicle, and analyses requirements and methods of the medeling and the structure of medels in detail. The flight simulation accomplishes the modeling specifically which is based on some unmanned aerial vehicle model and developing the flight simulation system for unmanned aerial vehicle. The flight performance of unmanned aerial vehicle is analysed and evaluated based on the data which is recorded by flight simulation system.
The main research contents are as follows:
1. Object-oriented design methodology for flight simulation system is discusses, and structure of all models is builded for providing the process frame of the modeling entirely. The partition and function of models is also analysed.
2. Modeling for flight simulation system. It mainly contains aerodynamic model, Flight dynamic model, power system model, atmosphere environment model, and so on
3. Realisation of Flight simulation system. Technologies such as DirectX and object-oriented programming are used to realize visual three-dimensional flight simulation system based on personal computer. The system can display the change of position and track for unmanned aerial vehicle directly by means of human-computer interaction. Flight simulation data can be also recorded.
4. Based on the data which is recorded by flight simulation system, we can analysis and evaluate the operation and stable performance of unmanned aerial vehicle and the change of flight performance in the process of ejection take-off.
1.讨论了设计开发飞行仿真系统面向对象的建模方法,构建了本系统的模块结构,为本文的建模工作提供了总体框架,并分析了模块的划分情况和各模块的功能。
2.飞行仿真系统的详细建模过程。该系统主要由空气动力模型、飞行动力学方程模型、飞行控制模型、动力系统模型和大气环境模型等构成。
3.仿真系统的实现。运用DirectX、面向对象编程等技术,实现了基于PC机的三维虚拟飞行仿真系统。该仿真系统通过人机交互飞行,可以直观地显示无人机的飞行姿态与轨迹,同时也可记录分析仿真飞行数据。
4.基于飞行仿真系统得到的结果数据,对无人机模型的稳定性与操纵性能及弹射起飞过程中的飞行特性变化进行了分析评估。
The article mainly introduces how to build the flight simulation system which can reflect the flight of unmanned aerial vehicle, and analyses requirements and methods of the medeling and the structure of medels in detail. The flight simulation accomplishes the modeling specifically which is based on some unmanned aerial vehicle model and developing the flight simulation system for unmanned aerial vehicle. The flight performance of unmanned aerial vehicle is analysed and evaluated based on the data which is recorded by flight simulation system.
The main research contents are as follows:
1. Object-oriented design methodology for flight simulation system is discusses, and structure of all models is builded for providing the process frame of the modeling entirely. The partition and function of models is also analysed.
2. Modeling for flight simulation system. It mainly contains aerodynamic model, Flight dynamic model, power system model, atmosphere environment model, and so on
3. Realisation of Flight simulation system. Technologies such as DirectX and object-oriented programming are used to realize visual three-dimensional flight simulation system based on personal computer. The system can display the change of position and track for unmanned aerial vehicle directly by means of human-computer interaction. Flight simulation data can be also recorded.
4. Based on the data which is recorded by flight simulation system, we can analysis and evaluate the operation and stable performance of unmanned aerial vehicle and the change of flight performance in the process of ejection take-off.
引文
[1]童中翔,王晓东.飞行仿真技术的发展与展望[J].飞行力学,2002,20(3):5-8.
[2] A.G.Barnes. Modeling requirements in flight simulation[S]. Aeronautical journal. AGARD - AG - 333, 2000.
[3]王行仁.飞行实时仿真系统及技术[M].北京:北京航空航天大学出版社, 1998.
[4] Ducan C Miller. SIMNET. The Advent of Simulator Networking[C]. Proc. IEEE, 1995, 183: 1114-1123.
[5]祝智敏,艾明晶.半实物仿真系统互联中实时同步的研究[J].现代电子技术, 2006, 4:94-99.
[6] P.C.A.van Gool. Software Design for A Reconfigurable Simulator. AIAA-96-3470-CP.
[7] Joseph F.Horn, Derek O.Bridges, Leonard V.Lopes. Development of a Low-Cost, Multi-Disciplinary Rotorcraft Simulation Facility[J]. Journal of Aerospace Computing, Information and Communication, 2005, 2:267-284.
[8] Joseph Michael Anthony Ricciardi. The Effects of Terrain Discrepancy and the Role of Texture in Enhanced/Synthetic Vision Systems[D]. Toronto: University of Toronto, 2000.
[9] Smaili, M.Laban and J.Dominicus.New Integrated Modeling and Simulation techniques for Research and Training Applications[C]. National Aerospace Laboratory/NLR, Amsterdam,The Netherlands, AIAA Modeling and Simulation Technologies Conference and Exhibit,San Francisco, California, 2005, 8:15-18.
[10] Williams,Guy,Weeks,Richard,Lawrence.AIAA PAPER[C].Modeling and Simulation Technologies:Reconfigurable Flight Simulators in Modeling and Simulation.AIAA Modeling and Simulation Technologies Conference and Exhibit, Providence, Rhode Island, 2004, 8:16-19.
[11] C.A.Ippolito, A.R.Pritchett. Software architecture for a reconfigurable flight simulator[C]. AIAA Modeling and Simulation Technologies Conference, Denver, CO, 2000, 8:14-17.
[12] R.Burns,M. Duquette,J.Howerton and R.Simko. Development of a low-cost simulator for demonstration and engineer training[C]. Air Force Research Laboratory, Wright-Patterson AFB, OH. AIAA Modeling and Simulation Technologies Conference and Exhibit, Austin, Texas, 2003, 8:11-14.
[13]熊海泉.飞机飞行动力学[M].北京:航空工业出版社, 1990.
[14]肖业伦.航空航天器运动的建模——飞行动力学基础[M].北京:北京航空航天大学出,2003.
[15] Kelly L,Murdock.3ds max 7宝典[M].北京:电子工业出版社, 2006.
[16]世界无人机大全编写组.世界无人机大全[M].北京:航空工业出版社, 2004.10.
[17]肖其虎.基于面向对象技术的实时飞行仿真系统设计[D], [西北工业大学硕士论文].西安:西北工业大学, 2001.
[18]段松云.无人机起飞/着陆阶段建模和飞行动力学仿真系统设计[D], [清华大学硕士论文].北京:清华大学, 2004.
[19] B.Etkin.Dynamics of atmospheric flight[M], New York:John Wiley, 1972.
[20] Synge,J.L. and Griffith.B.A. Principles of Mechanics, McGraw-Hill: NewYork, 1959.
[21] Gerlach,O.H .Lecture notes on airplane stability and control I, PartII, Rept[R]. Delft University of Technology, Delft, TheNetherlands, 1983.
[22] Joseph M.Cooke. NPSNET:Flight Simulation Dynamic Modeling Using Quaternion[J]. Naval Postgraduate SchoolDe2 partment of Computer Science, 1997, 4(1):404-420
[23] Rolfe,J.M. and StaplesJ.A. Flight simulation[M], Cambridge Aerospace Series, Cambridge, U.K:Cambridge University Press, 1986.
[24]袁子怀,钱杏芳著.有控飞行力学与计算机仿真[M].北京:国防工业出版社, 2001.
[25]陈稆.运动器的数字仿真技术研究, [南京航空航天大学博士学位论文].南京:南京航空航天大学, 1995.
[26]张韵华,奚梅成,陈效群编.数值计算方法和算法[M].北京:科学出版社, 2002.
[27]袁东.地面飞行模拟器建模方法论[J].飞行力学, 2004, 22(3):10-16.
[28] S.Alagic,D.Ellis,R.Harder.Object-oriented flight-simulator technology, AIAA-96-3515:360-362
[29]贾荣珍,彭晓源,王行仁.飞行模拟器建模、验模和性能测试与评估.航空学报, 1998, 19(1):42-44.
[30] Atkinson M.,Bancilhon F.,DeWitt D.,Dittrich K.The Object Oriented Database System Manifesto, Proceedings of the first Object-Oriented and Deductive Database Conference, Kyoto, 1989.
[31]刘泽坤.无尾式无人机飞行动力学分析及飞行仿真研究, [南京航空航天大学硕士论文].南京:南京航空航天大学, 2007.
[32]张雄,叶榛,朱继洪等.基于虚拟现实的无人驾驶飞机仿真训练系统.系统仿真学报, 2002, 14(8):1023-1025.
[33] Johnson E N,Fontaine S.Use of Flight Simulation to Complement Flight Testing of Low-Cost UAVS.AIAA 2001-4059.
[34] Johnson E N,Mishra S.Flight Simulation for the Development of an Experimental UAV.AIAA 2002-4975.
[35] Charles Petzold. Windows程序设计(第五版)[M],北京:北京大学出版社, 1999.
[36]王适存编.直升机空气动力学[M].北京:航空专业教材编审组, 1985.
[37]亚历山大洛夫著,王适存,王培生,彭炎午译.空气螺旋桨[M].北京:高等教育出版社,1954.
[38]赵震炎,肖业伦,施毅坚. Dryden大气紊流模型的数字仿真技术[J].航空学报, 1986, 7(5):434-442
[39]方振平,范子强,屈香菊.大气扰动下人-机建模与仿真[J].中国安全科学学报, 1995, 5(6):12-16.
[40]洪冠新,肖业伦.用蒙特卡罗法仿真生成三维空间大气紊流场[J].航空学报, 2001, 22(6):542-545.
[41] Boker L J, Chang L K. Factors Influencing the Predicted Performance of Advanced Propeller Designs. AIAA Paper 81-1564.
[42] Kovach P J著,李晔译. Direct3D技术内幕[M],北京:清华大学出版社, 2001.
[43]曹云峰,王柳文,陶勇等.微型飞行器控制与导航系统研究[J].航空电子技术, 2001, 33(1):31-35.
[2] A.G.Barnes. Modeling requirements in flight simulation[S]. Aeronautical journal. AGARD - AG - 333, 2000.
[3]王行仁.飞行实时仿真系统及技术[M].北京:北京航空航天大学出版社, 1998.
[4] Ducan C Miller. SIMNET. The Advent of Simulator Networking[C]. Proc. IEEE, 1995, 183: 1114-1123.
[5]祝智敏,艾明晶.半实物仿真系统互联中实时同步的研究[J].现代电子技术, 2006, 4:94-99.
[6] P.C.A.van Gool. Software Design for A Reconfigurable Simulator. AIAA-96-3470-CP.
[7] Joseph F.Horn, Derek O.Bridges, Leonard V.Lopes. Development of a Low-Cost, Multi-Disciplinary Rotorcraft Simulation Facility[J]. Journal of Aerospace Computing, Information and Communication, 2005, 2:267-284.
[8] Joseph Michael Anthony Ricciardi. The Effects of Terrain Discrepancy and the Role of Texture in Enhanced/Synthetic Vision Systems[D]. Toronto: University of Toronto, 2000.
[9] Smaili, M.Laban and J.Dominicus.New Integrated Modeling and Simulation techniques for Research and Training Applications[C]. National Aerospace Laboratory/NLR, Amsterdam,The Netherlands, AIAA Modeling and Simulation Technologies Conference and Exhibit,San Francisco, California, 2005, 8:15-18.
[10] Williams,Guy,Weeks,Richard,Lawrence.AIAA PAPER[C].Modeling and Simulation Technologies:Reconfigurable Flight Simulators in Modeling and Simulation.AIAA Modeling and Simulation Technologies Conference and Exhibit, Providence, Rhode Island, 2004, 8:16-19.
[11] C.A.Ippolito, A.R.Pritchett. Software architecture for a reconfigurable flight simulator[C]. AIAA Modeling and Simulation Technologies Conference, Denver, CO, 2000, 8:14-17.
[12] R.Burns,M. Duquette,J.Howerton and R.Simko. Development of a low-cost simulator for demonstration and engineer training[C]. Air Force Research Laboratory, Wright-Patterson AFB, OH. AIAA Modeling and Simulation Technologies Conference and Exhibit, Austin, Texas, 2003, 8:11-14.
[13]熊海泉.飞机飞行动力学[M].北京:航空工业出版社, 1990.
[14]肖业伦.航空航天器运动的建模——飞行动力学基础[M].北京:北京航空航天大学出,2003.
[15] Kelly L,Murdock.3ds max 7宝典[M].北京:电子工业出版社, 2006.
[16]世界无人机大全编写组.世界无人机大全[M].北京:航空工业出版社, 2004.10.
[17]肖其虎.基于面向对象技术的实时飞行仿真系统设计[D], [西北工业大学硕士论文].西安:西北工业大学, 2001.
[18]段松云.无人机起飞/着陆阶段建模和飞行动力学仿真系统设计[D], [清华大学硕士论文].北京:清华大学, 2004.
[19] B.Etkin.Dynamics of atmospheric flight[M], New York:John Wiley, 1972.
[20] Synge,J.L. and Griffith.B.A. Principles of Mechanics, McGraw-Hill: NewYork, 1959.
[21] Gerlach,O.H .Lecture notes on airplane stability and control I, PartII, Rept[R]. Delft University of Technology, Delft, TheNetherlands, 1983.
[22] Joseph M.Cooke. NPSNET:Flight Simulation Dynamic Modeling Using Quaternion[J]. Naval Postgraduate SchoolDe2 partment of Computer Science, 1997, 4(1):404-420
[23] Rolfe,J.M. and StaplesJ.A. Flight simulation[M], Cambridge Aerospace Series, Cambridge, U.K:Cambridge University Press, 1986.
[24]袁子怀,钱杏芳著.有控飞行力学与计算机仿真[M].北京:国防工业出版社, 2001.
[25]陈稆.运动器的数字仿真技术研究, [南京航空航天大学博士学位论文].南京:南京航空航天大学, 1995.
[26]张韵华,奚梅成,陈效群编.数值计算方法和算法[M].北京:科学出版社, 2002.
[27]袁东.地面飞行模拟器建模方法论[J].飞行力学, 2004, 22(3):10-16.
[28] S.Alagic,D.Ellis,R.Harder.Object-oriented flight-simulator technology, AIAA-96-3515:360-362
[29]贾荣珍,彭晓源,王行仁.飞行模拟器建模、验模和性能测试与评估.航空学报, 1998, 19(1):42-44.
[30] Atkinson M.,Bancilhon F.,DeWitt D.,Dittrich K.The Object Oriented Database System Manifesto, Proceedings of the first Object-Oriented and Deductive Database Conference, Kyoto, 1989.
[31]刘泽坤.无尾式无人机飞行动力学分析及飞行仿真研究, [南京航空航天大学硕士论文].南京:南京航空航天大学, 2007.
[32]张雄,叶榛,朱继洪等.基于虚拟现实的无人驾驶飞机仿真训练系统.系统仿真学报, 2002, 14(8):1023-1025.
[33] Johnson E N,Fontaine S.Use of Flight Simulation to Complement Flight Testing of Low-Cost UAVS.AIAA 2001-4059.
[34] Johnson E N,Mishra S.Flight Simulation for the Development of an Experimental UAV.AIAA 2002-4975.
[35] Charles Petzold. Windows程序设计(第五版)[M],北京:北京大学出版社, 1999.
[36]王适存编.直升机空气动力学[M].北京:航空专业教材编审组, 1985.
[37]亚历山大洛夫著,王适存,王培生,彭炎午译.空气螺旋桨[M].北京:高等教育出版社,1954.
[38]赵震炎,肖业伦,施毅坚. Dryden大气紊流模型的数字仿真技术[J].航空学报, 1986, 7(5):434-442
[39]方振平,范子强,屈香菊.大气扰动下人-机建模与仿真[J].中国安全科学学报, 1995, 5(6):12-16.
[40]洪冠新,肖业伦.用蒙特卡罗法仿真生成三维空间大气紊流场[J].航空学报, 2001, 22(6):542-545.
[41] Boker L J, Chang L K. Factors Influencing the Predicted Performance of Advanced Propeller Designs. AIAA Paper 81-1564.
[42] Kovach P J著,李晔译. Direct3D技术内幕[M],北京:清华大学出版社, 2001.
[43]曹云峰,王柳文,陶勇等.微型飞行器控制与导航系统研究[J].航空电子技术, 2001, 33(1):31-35.