Research And Design Of UAV Flight Control Ground Hardware In The Loop Simulation Platform

Aircraft flight control technology is one of the key technologies in the design of modern drones.From the initial manual control to auxiliary navigation to today’s automatic flight control,its core position is constantly highlighted.The theoretical research on flight control technology in various countries around the world And the actual application is also constantly strengthened.At the same time,due to the characteristics of the flight control system,the results of its theoretical design cannot be immediately applied to the flight of an actual aircraft.Therefore,in general,the theoretical design effect is mainly verified by hardware in the loop simulation.This thesis is also based on this purpose,with the three-axis turntable as the core part of the hardware in the loop simulation,after building the UAV ground hardware in the loop simulation hardware platform,with the design of the corresponding host computer control software,the UAV attitude control is studied.Related theoretical design and simulation.This thesis initially analyzes the development status and trends of UAV and hardware in the loop simulation platform technology at home and abroad,analyzes the principle and structure of hardware in the loop simulation,and expounds several types of coordinate systems and their conversion relationships.After comparing and researching several commonly used UAV attitude representation methods,I decided to adopt the Rodrigues parameter method,and proposed a modified Rodrigues parameter method for the singular problems of the Rodrigues parameter method,and finally added Kalman filtering to the solution process.optimization.Secondly,the establishment of the corresponding model of the fixed-wing UAV,the linearization according to the obtained motion equation,the soft feedback method is used to preliminarily design the longitudinal and lateral motion control laws of the UAV,and the preliminary control results are obtained by simulation.In consideration of some deficiencies in the design of the control law,the genetic algorithm is used to optimize the corresponding feedback parameters on the original basis,and satisfactory control results are obtained after the simulation.Then according to the system requirements and system structure,we designed a hardware circuit using STM32 as the controller,combined with MPU9250 nine-axis attitude sensor,three-axis turntable,three-axis turntable control,digital radio communication,WIFI communication and drone body structure,etc.Form a hardware platform that can simulate the UAV’s posture movement,collect the three-axis turntable posture information in real time,and display the motion status and data communication of the UAV in real time through the UAV body structure.Finally,for the functions required by the system,the hardware program part and the software design of the host computer based on the interface design are implemented,including the attitude sensor data collection,the real-time calculation of the turntable attitude angle combined with the data,and the optimization and semi-optimal parameters of the genetic algorithm.The simulation process of physical simulation,the writing and calling of MPC08 motion control function and the design of the interface function of the host computer can realize the real-time display update of the collected data and the rotation control of various postures of the turntable.Based on the hardware platform and software,the original data of the attitude sensor is measured,error analysis is performed,and the angle data of the quaternion method,the quaternion method based on Kalman filtering and the Rodrigues parameter method based on Kalman filtering are collected,It proves the feasibility of the latter attitude solution,and finally completes the actual comparison of the actual data of the turntable and the simulation data to verify the feasibility of the system design,which has certain practical and research prospects.