Research And Realization Hardware-in-the-loop Integrated Framework Of Flight Control System On Unmanned Aerial Vehicle

With the rapidly development of UAV career, the functions that UAV has undertaken increase ceaselessly and UAV has been used more widely, whatsmore the task of research increased gradually. As the control core of UAV, The working condition of the flight control system directly affects the UAV flight performance, it is very necessary and important to do static testing and dynamic detection for flight control system. At present, simulation computer is the necessary equipment for completing dynamic testing, but it existence many issues such as large volume and complicated operation. Therfore, it is urgent to design hardware-in-the-loop integration framework that contions the function of flight simulation, the integrated framework not only has the basic function of improving the accuracy of the test and simulation but also has the advantage of miniaturization, portable and simple operation, etc. The main work is:First of all, This paper analyzed the composition of the test principle and simulation platform’s design. We select the embedded microprocessor of America TERN’s 586-Drive which has the characteristics with small size, high integration, excellent performance as the core module structure to construct hardware-in-the-loop integration framework for the first time, and complete the underlying driver development and debug work of the corresponding hardware module.Secondly, according to the UAVs are different in aerodynamic model, engine model, inertia and centre of gravity model of dynamic model, we make those coefficient into configuration file that used in modling in the form of XML for storage and reading by using XML technology, and make those configuration files into templates. Realize the dynamic loading of model parameters, it can improve the universality of simulation platform.Thirdly,we write the UAV flight simulation software by using C++ language and establish six degree of freedom nonlinear state space model for UAV according to aerodynamic parameters. By comparing numberical integration of the solution method, We selecte the fourth-order Adams method to solver model and conclude the simulation characteristic of sensor interface that used in this reaserch and establish corresponding model.To realize the simulation of UAV model.Lastly, we write the ground-simulation-console software by using C++ Builder 6.0, mainly realizing these functions like the loading of initial state, the initial conditions, atmospheric environment and the external force and torque, sending control instructions and displaying of flight parameters, rudder angle, atmospheric engine data of flight simulation parameters, etc.