Design And Implementation Of Closed Loop Simulation Execution Software For UAV Flight Control System

With the rapid development of drone technology,today's drones have entered the era of great explosions.Military and civilian drones have been widely used in many fields.The flight control system is the brain of the drone.Full and effective testing and verification is an important means to ensure the correctness of the flight control system.Especially in the early stage of flight control system design,the rapid prototyping stage,large-scale full digital closed-loop simulation test and verification provides a solid foundation for the correctness of the preliminary design.In the traditional rapid prototyping stage,the closed-loop simulation test has a long preparation period and requires many manual operations,which cannot be mass-produced on a large scale.Therefore,it is very important to study the automation,batch execution and automatic simulation execution tool of closed-loop simulation of flight control system.Based on the model-based flight control system design method,this paper implements the process control script program to realize the design model to the simulation execution kernel,and then completes the automatic simulation execution of the simulation kernel through the resource management and simulation automation execution tools,and finally completes the flight control.System verification.The specific research process is:Firstly,based on the software engineering theory,the business system modeling of the rapid prototyping process of the UAV flight control system is carried out,and the detailed functional requirements,performance requirements and interfaces of the system are extracted accordingly.The business modeling process uses activity diagrams and flowcharts for business grooming and breaks down the entire rapid prototyping process into three subprocess activity diagrams.As well as the analysis and description of the activity diagram,the use case diagram of the rapid prototyping process of the flight control system is established,and each use case is analyzed to extract the detailed functional requirements,performance requirements and original interface usage requirements.Secondly,according to the requirements analysis results,the whole software is architected.The whole software is divided into three modules: automatic generation module,resource management module and simulation automatic execution module.The outline design of each module is based on the development of the flight control system model design tool Matlab/Simulink,the tool analysis flight control system design model interface structure,and the design model generates a set of self-description by constructing the model interface description file.The emulation kernel.The resource management module provides a set of management platform for all closed-loop simulation software.It can manage simulation nodes,automatically generate test,manage simulation nodes,and automatically recover test data.It is the main human-computer interaction interface.The simulation automatic execution software is an automatic simulation execution performed according to the test kernel and test cases allocated by the resource management,and the software for recording the test data,which adopts a kernel algorithm of balanced load scheduling to realize parallel execution of multiple target nodes;Finally,the detailed design and implementation of each module,using Matlab/Simulink M language design and implementation of a set of automated execution scripts that can transform the design model into a dynamic library simulation kernel.Use Python language to automate the management of simulation resources and automatically generate test cases.Finally,a set of runtime modules that can call the simulation kernel dynamic library and execute it automatically are developed in C++.These three tools work in stages during the rapid prototyping process of the flight control system design,and generate interface files for mutual use,and finally realize automatic closed-loop simulation.In summary,this paper analyzes the requirements to the final software implementation,and then to the final stage of software deployment testing,which proves that the software can realize the automatic simulation execution of the closed loop of the UAV flight control system in terms of function and performance.Translating the traditional code that needs to be manually executed into the manual test simulation through software automation,the rapid prototyping of the UAV flight control system design is realized.