Development Of UAV Flight Control Hardware-in-the-loop Simulation System

With the continuous development of science and technology,emerging technologies such as unmanned aerial vehicle(UAV)have begun to spread rapidly in China,and are widely used in defense,industry,agriculture,and other fields.Drones pursue fast response,high stability,and clusterability,but the characteristics of complex control and difficult development of stable algorithms make it easy to cause accidents such as crashing of the drone during test flight and cause property damage.UAV hardware-inthe-loop simulation system can make the UAV operator familiar with the operation skills in advance before the UAV flight test and verify the stability of the flight algorithm,which has become an important part of the UAV development process and a powerful visual test method before the UAV flight test.The hardware in the loop simulation system with real as the ultimate goal of UAV stable flight,this article first introduced the real unmanned aerial vehicle the basic hardware structure and principle of the air,this paper introduces the basic coordinate system and modeling for the analysis of the coordinate transformation method,for UAV hardware in the loop simulation theory of the real machine test after ready for.Secondly elaborated on UAV hardware in the loop simulation mathematical model and block diagram in the Matlab Simulink model of concrete structures,process,the Simulink toolbox of code automatically generated function greatly shorten the development cycle,algorithm and model for unmanned aerial vehicle in the loop simulation and hardware in the loop simulation experiment for the gas,the objective experimental data obtained,basically meet the experimental requirements.Since the real UAV training scene cannot be established in Matlab simulation,this paper builds a real training scene under the Microsoft Airsim platform,including UAV module,real environment module,physical engine module,sensor module,rendering module,etc.In Airsim simulation platform,UAV hardware in the loop simulation system control part under real UAV controller for real-time operation,produce control signals transmitted to the simulation platform of UAV module,drones module in establishing a real flight training scenarios,produce flight data feedback to the controller to realize the complete closed loop experiment.Through the construction of two kinds of hardware in the loop simulation system,the stability of the UAV control algorithm can be verified more accurately,and the UAV operator can skillfully control the UAV flight with the help of realistic physical and visual simulation effects,thus achieving the purpose of establishing the simulation system.