中小型无人机建模分析与仿真研究

“”513250501012012－12－062013－01－2730112013111006－9348201311－0032－0411231．0500032．1000853．203710065、CMatlab。V271．4BModelingandSimulationPlatformDesignandＲesearchofMiddleandMiniatureUnmannedAerialVehicleYUNChao1LIXiao－min1ZHENGZong－gui2LIUPin31．DepartmentofUAVEngineeringOrdnanceEngineeringCollegeShijiazhuangHebei050003China2．AcademeofsecondartilleristBeijing100085China3．MilitaryＲepresentationinXi’anOfficeof203AcademeXi’anShanxi710065ChinaABSTＲACTWiththeincreasingdamandofminiatureandmiddleUAVinmilitaryapplicationinordertostudytheflightcharacteristicandcontrollawoftheminiatureandmiddleUAVwhichcannotflyfasterandhigherthepaperintroducedtheUAVaerodynamiccharacteristicandkinematicsmodelthenestablishedthemodularizesimulationplatformbasedondataflowinSimulinkenvironmentandsetthemodularizationparameterbasedonaerodynamiccharacteristicoftheminiatureandmiddleUAVwhichcanverifythesimulationplatformvalidityandfeasibilitybysimulationexperiment．Thesimulationplatformcanspeedthedesignworkofdynamicsimulationmodelanddothenumericalsimulationresearchingworkwhichalsocanaffordbasicresearchingworkfornavigationandcontrolsystemdesigninfuture．KEYWOＲDSMiniatureandmiddleunmannedaerialvehicleUAVModularizationSimulationplatformTypicpa-rameter1UnmannedAerialVehiclesUAV、、1。2080。。、、。500kg200kg～500kg200kg。150km～350km、、。、、。、、。。PC—23—。22．1、、。。。C、C。CSimulinkMatlab/Simulink、。2．2、2。、①②③④“”⑤⑥OXOZIxyIyz。1mkggGx=－mgsinθGy=－mgcosθcosγGz=mgcosθsin{γ12PφpepPx=PcosφpPy=PsinφpPz={02Mzp=Pep331Ｒ∑X、Y、ZD=－XL=－Z2M∑LAMANA。D=CDQSwY=CYQSwL=CLQSwLA=ClQSwbMA=CmQSwcANA=CnQSwb4CD、CY、CL、、Cl、Cm、Cn、Q=12ρV2ρVSwbcA。56u=vr－wq－gsinθ+Fxmv=－ur+wp+gcosθsinφ+Fymw=uq－vp+gcosθcosφ+Fzm5p=c1r+c2pq+c3L_+c4Nq=c5pr－c6p2－r2+c7Mr=c8p－c2rq+c4珔L+c9{N6∑=IxIz－I2xzc1=Iy－IzIz－I2xz∑c2=Ix－Iy+IzIxz∑c3=Iz∑c4=Ixz∑c5=Iz－IxIyc6=IxzIyc7=1Iyc8=IxIx－Iy+I2xz∑c9=Ix∑。2．3HV。61278—33—φ=p+rcosφ+qsinφtanθθ=qcosφ－rsinφψ=1cosθrcosφ+qsinφ{7xg=ucosθcosψ+vsinφsinθcosψ－cosφsinψ+wsinφsinψ+cosφsinθcosψyg=ucosθsinψ+vsinφsinθsinψ－cosφcosψ+w－sinφcosψ+cosφsinθsinψh=usinθ－vsinφcosθ－wcosφcosθ8。。。3。。。。3．1。。3。、。。。、、、。4。3．2SimulinkMATLAB/Simulink。Matlab/Simulink。SimulinkSimulink、ＲTWＲealtimeworkshop．exe。SimulinkAerospace5。。6、、。1。14Simulink2、、_UAV、、、。_UAV1。2—43—210kg3．2m0．65m2。PID725m/s。airspeed、bankangle、pitchangle、yawangle。2。3100023m/s0oPID25m/s1．7°0°。、、4。4220－100。23m/sPID25m/s1．7°32°。。、、5。5。。5、Matlab/Simulink4—airspeed、—pitchangle、—bankangle、—yawangleSimu-link、。1．M．2003．2．M．2001．3．J．200133200－202．136—53—6estimationofcontactforceJ．VehicleSystemDynamics2005431403－411．2MSatriaMCBest．ComparisonbetweenKalmanfilterandrobustfilterforvehiclehandlingdynamicsstateestimationＲ．SAEPa-per2002－01－11852002．3MAWilkinetal．DesignedverificationofanextendedKalmanfiltertoestimationvehicletyreforceＲ．SAEPaper2006－01－12852006．4TAWenzelKJBurnhamMVBlundell．DualextendedKalmanfilterforvehiclestateandparameterestimationJ．VehicleSys-temDynamics2006442153－171．5GBaffetACharara．Anobserveroftire－roadforcesandfrictionforactivesecurityvehiclesystemJ．IEEE/ASMETransactionsonMechatronics2007126651－661．6．J．2008296482－485．7．D．2008．8．D．2009．9TAWenzelKJBurnhamMVBlundellＲAWilliams．Ap-proachtoVehicleStateandParameterEstimationusingExtendedKalmanFilteringC．AVEC042011725－730．10TAWenzelKJBurnhamMVBlundellandＲAWilliams．DualextendedKalmanfilterforvehiclestateandparameteresti-mationJ．VehicleSystemDynamics20111442153－171．11．J．20083951－5．12．J．20063749－11．1984－1981－。354．M．2010．5．J．2000．6．M．2003－6．7．J．2004．1983－1968－1969－1985－。—631—