The Research Of Real Time Hardware-in-the-loop Simulation System Of Four Rotor Aircraft

Four rotor aircraft as a new type of unmanned aerial vehicles, received wide attention in terms of military and civilian. And how to develop a set of control system of four rotor aircraft flight and to test its performance has become a popular research content. Simulation technology as a professional technology in the field of control theory and computer technology is widely used in the system simulation and performance evaluation. And the hardware in the loop simulation technology as the highest reliability simulation technology inevitably become the best choice for the simulation and test. In this paper, combined with the situation and existing problem of four rotor aircraft semi physical simulation platform, a set of semi physical simulation platform which can real-time test the dynamic performance of the four rotor aircraft flight control system is designed. It will short the cycle of research and development of four rotor aircraft flight control system, reduce development costs, simplify the testing means, improve the research and development of four rotor aircraft flight control system control effect and dynamic performance test platform in a reliable way. This system can be used this platform to test the control effect sensitivity and other dynamic performance of control system of four rotor aircraft flight；it can simulate the flight state of the four rotor aircraft flight in the complex weather environment, such as turbulence; the data of sensor measurement of the flight control system can be real-time monitor and provide reliable reference attitude data for the flight control system, in order to analysis and tuning the attitude measurement of control system of the flight.In this paper, the structure and stress distribution of the four rotor aircraft was analyzed. And with the analysis results of fluid mechanics, this paper find the relationship between the induced velocity of the wind field,the attitude of four rotor aircraft, rotor speed and the induced velocity of flow field of the rotor. Second, based on the theoretical mechanics analysis results and the theory of fluid mechanics analysis results, combined with the four rotor aircraft dynamic model, mathematical model of semi physical simulation platform was constructed. And with complementary filter method and four element method designed the attitude calculation method. Finally, according to the construction of the semi physical simulation platform of the mathematical model of comprehensive consideration of four rotor aircraft parts parameters, constructed environment simulation system and communication system by FPGA;construct the signal processing system and airborne measuring system by STM32,;write a computer program using the LabVIEW software, and tested all the system.With the tested, this system can be used to test the dynamic performance of four rotor aircraft flight control system, and can realize the simulation of the external environment, and the simulation of the external environment impact on four rotor aircraft effect to the attitude, make the simulation more close to the actual flight conditions. The simulation system can greatly shorten the development period of four rotor aircraft flight control system, reduce development costs, eliminating all sorts of drawbacks in the process of the performance test, to improve the test efficiency.