Research on the hardware in the loop simulation of multi uav formation flight control system

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Scientific Journal of Control Engineering June 2013, Volume 3 Issue 3, PP.177-183

Research on the Hardware-in-the-loop Simulation of Multi-UAV Formation Flight Control System Benhui Liu#, Sentang Wu, Da Cai School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China #

Email: liubenhui2008@yahoo.com.cn

Abstract This paper describes the design methods of HILS (Hardware-In-the-Loop Simulation) platform, whose purpose is to test the performance of designed multi-UAV formation flight control system. The platform consists of four subsystems: real time simulation subsystem based on RTX technique, wireless communication subsystem based on TDMA technique, man-machine interaction subsystem based on MFC and flight position simulation subsystem based on flight motion, virtual flight motion and autopilot. The modeling method of multi-UAV formation and design method of controller are introduced firstly, then the composition and key technologies of every subsystem are presented, finally simulation about the formulation controller is carried out on this platform. The experimental result shows that this platform can effectively test the performance of formation controller and also can examine the function of radio station, autopilot and communication protocols, which provides important technical support for the further flight experiment. Keywords: UAV; Formation Controller; Hardware-In-the-Loop Simulation; Real Time Simulation; Wireless Communication Protocols

无人机编队飞行控制半实物仿真技术研究* 刘本慧,吴森堂,蔡达 北京航空航天大学 自动化与电气工程学院,北京 100191 摘

要:为了验证所设计的无人机编队控制系统的性能,设计并搭建了一种无人机编队控制半实物仿真平台。该平台主

要由基于 RTX 技术的实时仿真子系统,基于时分多址技术的无线通讯子系统,基于 MFC 的人机交互子系统,基于转台、 虚拟转台和自驾仪的姿态模拟子系统这四个子系统组成。依次介绍了无人机编队建模及控制器设计,各个子系统组成及 关键技术,以及利用该平台测试所设计的编队控制器的试验过程。仿真结果表明,该平台不仅能有效地验证所设计的编 队控制器的性能,还能实现对电台、自驾仪和通信协议等关键机载设备和关键技术的功能检测,为今后进一步的试飞实 验提供了重要的技术支持。 关键词:无人机;编队控制器;半实物仿真;实时仿真;无线通信协议

引言 无人机编队控制技术是近年来的一个研究热点,相对单无人机,无人机编队在作战范围、杀伤半径、 摧毁能力、攻击精度以及战场生存力等方面都有很大的提高。目前,国内外研究人员在编队飞行控制方面 提出了多种方法[1],但是主要用数字仿真验证其有效性,与实际工程应用还有较大的差距。半实物仿真是仿 真技术中置信水平最高的一种仿真方法,广泛应用于在航空航天、武器研究等领域,同时相对飞行实验, *

基金资助:受国防基础科研项目基金资助(07114840) 。 - 177 http://www.sj-ce.org/


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