无人机飞行控制半实物仿真系统设计与实现

To ensure the safety of UAV flight test and improve the reliability of UAV flight control system design, the UAV flight control hardware-in-the-loop simulation system is independently developed. The flight state information of UAV is generated by combining the accurate 6-DOF nonlinear mathematical model of UAV and xPC real-time system module. According to the ground station control command and sensor fault mode injection command, the deflection of the control surfaces under different flight modes and flight states can be obtained. The closed-loop feedback control of the real-time system is realized, and the control surfaces are driven to test the response speed of the control system. The system can not only verify the logic and real-time performance of the flight control system, but also has the function of online tuning control law parameters with the help of virtual reality technology and track map display. The system has a high degree of modularization, and the related hardware and software are widely used for the UAV platform and flight control computer. According to the experimental process of many platform experiments and flight tests, the system is practical, efficient and reliable for the development of UAV flight control system.