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

Journal of Hebei University of Science and Technology

Xiao WANG¹  Donghui LIU¹  Jinhao WANG¹  Jingjing XU¹  Xiaoyun SUN² 

[1] School of Electrical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, China;School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang, Hebei 050043, China;

关键词: control system simulation technology;    uav;    mathematical model;    control law;    hardware-in-the-loop simulation;   

DOI  :  10.7535/hbkd.2019yx06009

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown