Research On Semi-physical Simulation Platform Of Four-rotor Uav

In the past decade,with the rapid development of technical fields such as automatic control,information communication,artificial intelligence,and big data,quadrotor drones have played an increasingly important role in human society,and their application fields have become more and more extensive.The four-rotor drone has the characteristics of under-driving,high coupling,etc.There are certain security risks in actual operation.Aiming at this problem,this thesis designs a semi-physical simulation platform for quadrotors.The platform can realize real-time monitoring of the flying attitude of the quadcopter UAV by setting up serial communication,draw real-time curves of four output channels,complete the online and offline flight control parameter adjustment and complete the virtual flight of the quadrotor drone based on virtual reality.The thesis mainly completes the following contents:First,the working principle of the four-rotor flight and the common navigation coordinate system are introduced,and based on the Newton-Euler equation and classical mechanics theory,a mathematical model of the quadcopter UAV flight is derived.Simultaneously complete the flying mathematical model of the quadrotor drone to simplify,and convert the nonlinear model into a linear model.Then the thesis completed complementary filter data fusion and used quaternion to design attitude solving algorithm.By designing the PID controller and using Matlab-Simulink software to build the simulation module of the linearized model of the quadcopter UAV and comparing single loop PID and cascade PID simulation effect.Finally,the paper analyzes the overall architecture of the quadrotor UAV semi-physical simulation platform,and analyzes the different component modules.For the four-rotor UAV and its installation platform,the selection and introduction of components such as controller chips,motors,attitude sensors,and batteries are carried out.And the performance test of the four-rotor UAV.For the ground station monitoring software,the development environment of the ground station monitoring software is introduced,and the development technology of the ground station monitoring software is analyzed.For virtual simulation platform,the Maya 3D modeling software is used to establish the model of the quadcopter UAV and obstacles.And the models were loaded into Unity3 D.The relevant simulated flight fields were created in Unity3 D and write C# control script in Unity3 D,meanwhile,design human-computer interaction interface to complete the project development and complete the overall system test.