The Research Of Hardware-in-the-Loop Simulation Platform For Flight Control Test Of Quadrotor

With the development of emerging technologies such as control,communication,artificial intelligence and the Internet,many software,hardware and algorithms of multi-rotor aircraft have matured,many industries related to UAV are developing rapidly.The core of the UAV is its flight control system and the development of a stable and efficient flight control system has become a widely studied content.As a professional technology in the field of control and computer,simulation technology is widely used in system modeling and testing.The use of simulation technology to test the flight control systems has become a part of the development of flight control systems.This paper summarizes both domestic and foreign research results,designed a hardware-in-the-loop simulation platform.This simulation platform can test the control effect of the flight control system.Through the hardware-in-the-loop simulation platform,not only the control performance of the flight control system can be tested,but also the environmental simulation system can be used to test the anti-interference ability of the flight control system in a complex environment.This paper discusses the key technologies and schemes for building a hardware-in-the-loop simulation platform.Firstly,the structure and principle of the quadrotor are described,and the dynamic model of the quadrotor based on wind field disturbance is established on MATLAB.Secondly,based on the PID algorithm,a PID controller is designed.At the same time,fuzzy rules are established to form a fuzzy PID controller and the controller model is built by Simulink.Then,analyzed the open source flight control system Pixhawk and expanded it.Finally,the 6-DOF flight simulation platform is used as the physical model,and the environmental simulation system is designed to test the quadrotor.The simulation results show that the quadrotor flight dynamics model can be operated accurately under the wind field,and the fuzzy PID controller provides an excellent control scheme for the quadrotor.The hardware-in-the-loop simulation platform can test the flight control system.The environmental simulation system can simulate the complex environment.The 6-DOF platform can reflect the flight attitude of the quadrotor.The hardware-in-the-loop simulation platform has good application value for shortening the development cycle of the flight control system and improving the control precision.