Research On Rapid Prototyping Technology Of Control And Simulation Environment For Small UAV

Flight control system as the core equipment of UAV, is responsible for autopilot and taskexecution, and ensure the security and stability of UAV. With the UAV widely used in military andcivilian fields, the increasing demands of the UAV’s diverse functions and stable performance, makesUAV flight control system becoming more complex. The traditional design method for flight controlsystem based on a text specification becomes more difficult to meet the short development cycle andlow cost requirements. This paper describes a rapid prototyping technology for flight control system,speeding up the development process and reducing the cost of the budget.Firstly, based on advantages and disadvantages compared to the traditional flight control systemdevelopment method and rapid prototyping menthod, this paper describes the process of rapidprototying of UAV flight control system. According to the characteristics of the application of rapidprototyping technology in the design of the flight control system, this subject designs aFlightGeat-based simulation environment and implements PC-in-the-loop real-time simulation andsemi-physical simulation.Then, this paper proposes the whole design of flight control model, design and implementationof each functional module and the structure of flight control model in Simulink. Using theMATLAB rapid prototyping tool Real-Time Windows Target, this project converts the flight controlmodel to rapid control prototyping and completes the PC-in-the-loop simulation. Using the MATLABembedded coder tool, this project converts the flight control model to flight control code and deploysto flight control computer.Finally, the whole process of UAV flight simulation is performed in the semi-physical simulationenvironment. The simulation verifies auto-guide mode, command-guide mode and man-guide mode.The results show that, the flight control system has a good real-time performance and correct functionand meets the requirements of UAV flight control.