| 摘 要: 无人机本身是一个复杂的机电系统，是机械、电子、通讯、控制、信息等技术的高度融合体，如何模拟无人机单元是这些系统开发的一个重要课题。本文提出了基于通用半实物仿真平台的无人机模拟方案，与传统的数学模型或数据驱动模型方案相比，该模拟方案更接近真实系统，更容易模拟各种故障，同时也更容易与真实系统进行替换，方便系统整体的开发、测试与运行。提出的模拟器方案基于单元模拟，通过对无人机系统内各个单元的数据交互和通讯协议进行抽象，以真实的接口实现单元之间的数据交互，将无人机飞行模型仿真单元嵌入系统中，实现最大程度接近真机的模拟。测试表明，该模拟方案不但可以用于总体系统的开发和调试，而且对无人机自身的研制、测试等起到了关键作用。 |
| 关键词: 无人机系统；组件；仿真；通讯 |
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中图分类号: TP311.5
文献标识码: A
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| Design of Universal UAV System Simulator based on Semi-physical Simulation Platform |
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NI Yitao1, LI Junjie2, LI Xiaoming1
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( 1.Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China;
2.Beijing Aerospace T&C Technology Co. LTD., Beijing 100043, China)
462143947@qq.com; lijunjie0616@163.com; lxmzist@zstu.edu.cn
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| Abstract: Unmanned Aerial Vehicle (UAV), a complex electromechanical system, is a high integration of machinery, electronics, communication, control, information and other technologies. How to simulate the UAV unit is an important topic in developing these systems. This paper proposes a UAV simulation solution based on semi-physical simulation platform. Compared with traditional mathematical model or data-driven model program, the simulation solution is closer to the real system, easier to simulate various faults, and easier to match the real system. The system facilitates the overall development, testing and operation of the system. The unit-based simulator solution proposed realizes data interaction between units by abstracting data interaction and communication protocol of each unit in the UAV system with a real interface. UAV flight model simulation unit is embedded in the system to realize the simulation as close as possible to the real machine. Tests show that the simulation solution proposed can not only be used for development and debugging of the overall system, but also play a key role in the development and testing of the UAV itself. |
| Keywords: UAV system; component; simulation; communication |
