Research And Design Of UAV Flight Control Semi-physical Simulation System

Under the traction of military and civil needs,the development of UAV is in a blowout period,which also promotes the development and research of autonomous flight technology of UAV.In today’s world,the application of UAV pays more attention to intelligence,and the related research on UAV is becoming more and more perfect.In order to test the flight of UAV,the hardware and software parts of UAV can be tested without test flight through semi-physical simulation.Therefore,the development of UAV flight control semi-physical simulation system has great practical value.In this paper,the lower computer and the upper computer of flight control semi-physical simulation system are studied.In this thesis,the real-time attitude calculation of the three-axis simulation turntable by the lower computer is studied,and the attitude Angle of the UAV is simulated by controlling the precise rotation of the turntable.The attitude calculation method adopts quaternion attitude calculation,in which yaw angle is corrected by magnetometer.On this basis,also for UAV to establish the relevant model to study the fixed wing uavs,kinematics and dynamics equations of UAV linear mathematical model,and the PID controller parameters optimization based on the PSO algorithm,pitching angle,roll angle and yaw angle for unmanned aerial vehicle control law design,completed the semi physical simulation of flight control system with control simulation.Secondly,the hardware circuit based on the STM32 attitude detection module,the WIFI data communication circuit,the necessary power supply hardware circuit and the stepper motor driver hardware circuit for the lower computer system are designed,and the hardware circuit design for the lower computer and the upper computer is completed.In addition,the software part of the lower computer and the upper computer are studied and designed to complete the driving of the six-axis sensor and magnetometer,the correction of yaw angle with magnetometer data and the real-time transmission of WIFI data,and complete the necessary communication with the upper computer.The error analysis of the related sensor data,pitch angle,roll angle and yaw angle after calculation is carried out to make it meet the requirements of the whole system.In the software design part of the upper computer,the Windows motion function library of the motion control card based on PCI bus is studied.The WIFI is used to send and receive data,the attitude data of the lower computer is displayed and saved,and thehuman-computer interaction of the flight control semi-physical simulation system is completed.The RTW tool was used to generate the flight control law target code,download it to the target machine for debugging,complete the real-time attitude control of the turntable,and compared with the simulation control,verify the reliability of the flight control semi-physical simulation system.Finally,the semi-physical control simulation of flight altitude is carried out,and the flight altitude measurement and its control law design are studied.In order to improve the accuracy of real-time altitude measurement,the altitude information fusion algorithm is studied.The altitude error in the fusion stage,the atmospheric pressure intensity and the corresponding altitude under the static conditions of barometer altimeter are analyzed.Combining with the linear equation of longitudinal motion,flight altitude control is simulated and validated,which lays a foundation for semi-physical simulation of UAV flight altitude using multi-axis turntable or atmospheric simulation in subsequent experiments.