[1]姚志豪,祖家奎,李晨毓,等.基于线性化模型组的无人直升机半物理实时仿真技术研究[J].机械与电子,2024,42(05):50-56.
　YAO Zhihao,ZU Jiakui,LI Chenyu,et al.Research on Semi-physical Real-time Simulation Technology of Unmanned Helicopter Based on Linearized Model Group[J].Machinery & Electronics,2024,42(05):50-56.
点击复制

基于线性化模型组的无人直升机半物理实时仿真技术研究()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
42
期数:
2024年05期
页码:
50-56
栏目:
智能制造
出版日期:
2024-05-25

文章信息/Info

Title:
Research on Semi-physical Real-time Simulation Technology of Unmanned Helicopter Based on Linearized Model Group
文章编号:
1001-2257 ( 2024 ) 05-0050-07
作者:
姚志豪; 祖家奎; 李晨毓; 叶晓宇
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
YAO Zhihao ;  ZU Jiakui ;  LI Chenyu ;  YE Xiaoyu
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
无人直升机; 非线性动力学模型; 线性化模型组; 半物理仿真
Keywords:
unmanned helicopter ;  nonlinear dynamic model ;  linearized model group ;  semi physical simulation
分类号:
TP23 ; V249.1
文献标志码:
A
摘要:
针对无人直升机非线性动力学模型的建模难度大、置信度低及不利于进行系统仿真验证问题展开研究。首先介绍了无人直升机的线性化模型组并围绕其开展非线性模型线性化处理研究;接着阐述基于线性化模型组的实时仿真算法及计算流程;最后设计了基于线性化模型组的半物理仿真环境,完成实时仿真软件、仿真监控软件及 FlightGear 通信设计并通过仿真验证。结果表明,基于线性化模型组半物理实时仿真系统能够很好地满足工程需求,达到了预期的研究目标。
Abstract:
Aiming at the difficulty of modeling and low confidence of the nonlinear dynamic model of unmanned helicopter , which is not conducive to affecting system simulation and verification.First , the linearization model group of unmanned helicopter is introduced and the linearization of nonlinear model is studied ; then , the real-time simulation algorithm and calculation process based on linearized model group are described ; finally , the semi-physical simulation environment based on the linearized model group is designed , and the real-time simulation software , simulation monitoring software and FlightGear communication design are completed and verified by simulation.The results show that the semi physical real-time simulation system based on the linearized model group can well meet the engineering requirements and achieve the expected research objectives.

参考文献/References:

[ 1 ] 杨婧,詹月玫,洪彬 . 世界军用直升机装备现状及发展规划[ J ] . 直升机技术, 2020 ( 3 ): 68-72.

[ 2 ] 黄兴 . 小型无人直升机建模与控制技术研究[ D ] . 北京:北京理工大学,2016.
[ 3 ] 任倩倩 . 无人直升机建模与控制方法研究[ D ] . 大连:大连理工大学,2010.
[ 4 ] 周立冬 . 无人直升机前飞状态飞行控制律设计技术研究[ D ] . 南京:南京航空航天大学,2011.
[ 5 ] 王小青 . 无人直升机建模与控制技术研究[ D ] . 南京:南京航空航天大学,2009.
[ 6 ] LIU Z , LI J Q , CHENG W , et al.System identification based on generalized orthonormal basis function for unmanned helicopters : a reinforcement learning approach [ J ] .IEEE Transactions on vehicular technology , 2021 , 70 ( 2 ): 1135-1145.
[ 7 ] 王刚强 . 大气扰动下无人直升机悬停/小速度段位置控制律设计[ D ] . 南京:南京航空航天大学,2013.
[ 8 ] 龚瑞 . 微型四旋翼飞行器飞行控制系统设计与验证[ D ] . 南京:南京航空航天大学,2015.
[ 9 ] ANG K H , CHONG G , LI Y.PID control system analysis , design , and technology [ J ] .IEEE Transactions on control systems technology , 2005 , 13 ( 4 ): 559-576.
[ 10 ] WU J D , FENG T , FAN Y G.Flight simulation testbed of unmanned helicopter [ C ]// 2009 Second International Symposium on Information Science and Engineering.New York : IEEE , 2009 : 497-499.
[ 11 ] 周炎 . 新型共轴无人直升机飞行控制技术研究[ D ] .南京:南京航空航天大学,2020.

相似文献/References:

[1]王锦博,宋 伟,尚 帅,等.基于改进粒子群算法的无人直升机航路规划[J].机械与电子,2021,(06):66.
　WANG Jinbo,SONG Wei,SHANG Shuai,et al.Route Planning of Unmanned Helicopter Based on Improved Particle Swarm Optimization[J].Machinery & Electronics,2021,(05):66.
[2]李晨毓,祖家奎,刘佳晖,等.中型无人直升机电动舵机控制器设计与实现[J].机械与电子,2021,(10):57.
　LI Chenyu,ZU Jiakui,LIU Jiahui,et al.Design and Implementation of Electromechanical Actuator Controller for Medium-sized Unmanned Helicopter[J].Machinery & Electronics,2021,(05):57.
[3]刘世龙,祖家奎,位士超,等.强风扰动下的无人直升机横航向抗侧风控制律研究[J].机械与电子,2025,(02):66.
　LIU Shilong,ZU Jiakui,WEI Shichao,et al.Research on Lateral and Heading Anti-crosswind Control Law of Unmanned Helicopter under Strong Wind Disturbance[J].Machinery & Electronics,2025,(05):66.
[4]刘世龙,祖家奎,位士超,等.基于显模型跟踪控制的无人直升机操纵杆控制律设计[J].机械与电子,2025,(05):64.
　LIU Shilong,ZU Jiakui,WEI Shichao,et al.Design of Unmanned Helicopter Joystick Control Law Based on Explicit Model Tracking Control[J].Machinery & Electronics,2025,(05):64.
[5]位士超,祖家奎,秦 勇,等.无人直升机多源冗余容错导航系统设计与实现[J].机械与电子,2025,(07):60.
　WEI Shichao,ZU Jiakui,QIN Yong,et al.Design and Implementation of Multi-source Redundant Fault-tolerant Navigation System for Unmanned Helicopter[J].Machinery & Electronics,2025,(05):60.

备注/Memo

备注/Memo:
收稿日期: 2023-07-18
作者简介:姚志豪 ( 1998- ),男,江苏常熟人,硕士研究生,研究方向为飞行控制、嵌入式系统;祖家奎 ( 1974- ),男,江苏徐州人,博士,副研究员,研究方向为无人机飞行控制、嵌入式系统。
更新日期/Last Update: 2024-06-24