Z字形飞机建模与半实物仿真研究

为了提高无人机飞行品质,研究无人机控制的半实物仿真应用,形成一套通用的无人机飞行控制律设计与半实物仿真方法,针对气动特性较为复杂的Z字形飞机进行了研究。Z字形飞机机翼可向机身方向折叠,便于存放和运输。根据Z字形飞机外形参数,求得气动数据,并在此基础上利用小扰动线性化原理建立纵向线性模型,通过加入干扰脉冲方式研究模型纵向静稳定性,选取各环节传递函数,建立俯仰控制回路,调整PID参数,设计纵向控制律,分别使用Simulink和半实物仿真器进行仿真。仿真结果表明,无人机具有较好的静稳定性,PID控制参数选择合理,系统超调量较小,调节时间较短,可以提升无人机飞行品质,半实物仿真可以更真实、直观地反映无人机姿态,所用建模与仿真方法可应用到其他固定翼无人机,具有一定的通用性。

Modeling and hardware-in-the-loop simulation of Z-shaped aircraft

In order to improve the flight quality of UAV, study the hardware-in-the-loop simulation application of UAV control, and form a set of universal UAV flight control law design and hardware-in-the-loop simulation method, the Z-shaped aircraft with complex aerodynamic characteristics is studied. The Z-shaped aircraft can be folded in the direction of the fuselage for easy storage and transportation. According to the shape parameters of Z-shaped aircraft, the aerodynamic data are obtained. On this basis, the longitudinal linear model is established by using the principle of small disturbance linearization. The longitudinal static stability of the model is studied by adding disturbance pulses. The transfer function of each link is selected, the pitch control loop is established, the PID parameters are adjusted, the longitudinal control law is designed, and simulation is conducted by using Simulink and hardware-in-the-loop simulator. The simulation results show that UAV has good static stability, reasonable selection of PID control parameters, small system overshoot and short adjustment time, which can improve the flight quality of UAV. Hardware-in-the-loop simulation can more truly and intuitively reflect the advantages of UAV attitude. The modeling and simulation methods have certain universality and can be applied to other fixed-wing UAVs.