Design and implementation of man-in-the-loop unmanned airship HIL simulation system
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摘要: 为开展某型无人飞艇系统的地面集成及飞行仿真试验,基于VxWorks实时操作系统、Matlab/Simulink和RTW(Real Time Workshop)快速原型建模仿真软件、FUTABA数据采集系统和三维视景系统,开发了具有高精度、高实时性的半实物仿真平台以及仿真软件.该系统的最大创新点是加入了FUTABA遥控设备以及PWM(Pulse Width Modulation)/RS-422的信号转换模块,从而将飞行员的视觉感受及操纵输出接入到仿真回路中,实现了在全遥控、半自主和自主3种模式下的"人在回路"仿真.仿真试验结果表明:"人在回路"的飞行仿真试验可验证控制律的3种模式切换功能以及姿态、航迹控制效果,提高了飞行员对该型飞行器的操纵熟练程度,可以实现在应急情况下直接控制无人飞艇平稳着陆.Abstract: In order to carry out the unmanned airship system ground integration and flight simulation, the hardware and software of the hardware-in-the-loop(HIL) simulation platform was developed. It was based on real-time operating system(RTOS) VxWorks, Matlab/Simulink and real time workshop(RTW), FUTABA data acquisition system and three-dimensional visual system. The biggest innovation was the usage of the FUTABA remote control (RC) equipments and pulse width modulation(PWM)/RS-422 signal transform module, thus the visual sense and the control output of the pilot could be accessed to the simulation loop. The results show that man-in-the-loop flight simulation tests can verify the function of control mode switching and the effects of attitude and track control. The tests also improve the pilot-s proficiency in controlling this type of the unmanned airship directly to land steady in case of emergency.
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Key words:
- unmanned airship /
- man-in-the-loop /
- hardwar-in-the-loop(HIL) simulation
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