面向复杂系统虚拟样机协同建模的方法研究

基于系统工程建模语言(SysML)与高层体系架构(HLA),提出了一种面向复杂系统虚拟样机(VPCS)的开放式协同仿真建模新方法。该方法可以实现VPCS中各类学科异构模型的集成和协同仿真。将VPCS划分为顶层模型、联邦模型和领域组件模型,并分析了VPCS的模型调度机制;利用该方法,对某型无人机的飞控系统虚拟样机进行协同仿真建模,结果充分表明,该方法可以有效地进行多层次、多粒度、多领域的VPCS仿真建模。     

容错飞控系统故障隔离与自适应重构设计

容错飞控系统的关键技术就是进行实时故障隔离与重构控制. 结合最优控制和多模型自适应控制的优点, 提出一种基于多模型自适应最优二次型的容错飞控系统设计算法, 该算法建立在多个辨识模型和模型跟随最优二次型控制器的基础上. 首先根据作动器故障参数模型, 设计一系列并行的基于线性二次型估计的辨识模型, 每个模型对应一种故障;然后对应于每个辨识模型建立一个模型跟随最优二次型调节器;最后根据多模型切换控制原理对飞控系统进行实时故障隔离与重构. 应用某型飞机横侧向飞行控制系统进行了仿真, 结果表明: 在舵面严重受损的情况下, 飞机仍能保持良好的性能.     

模型自由飞纵向放宽静稳定性飞控系统设计与试飞研究

详细研究了模型飞机放宽静稳定性飞控系统设计方法，针对Ｋ８自由飞模型进行了设计并通过半物理仿真和试飞验证。表明该系统的设计方案可行，结果十分满意．     

大范围飞控系统建模及其稳定性分析

基于单工作点飞控模型，给出了一种适用于大运行范围的不确定性模型建模方法，以某飞控系统为例，建立了适合于多工作点的不确定性模型，并对其稳定性进行了仿真研究。     

高空长航时无人机飞控机容错技术研究

高空长航时无人机对飞行控制计算机提出了高可靠性要求,使用余度容错飞控计算机是提高安全可靠性的重要途径之一。从系统的可靠性指标出发,兼顾系统体积、重量、成本和余度管理方式,提出了一套结合通道自监控和比较监控双因子的飞控计算机方案,该方案规避了n模冗余结构表决器单点故障的缺陷,满足无人机高可靠、低成本、扩展性强等要求;针对高空长航时无人机多等级余度飞控系统,提出一种基于核心参数完整性的通道有效性方法,该方法中主备传感器可靠性模型由整机余度模型优化为分级余度模型。最大限度的提高系统的资源利用率,有效提高飞控计算机的容错能力,同时也提高了传感器子系统的可靠性。运用故障注入技术对飞控系统进行测试,试验结果表明该方法能够有效提高系统故障覆盖率和故障隔离率。     

元对象机制驱动的复杂系统开放式顶层建模

为了在复杂系统开发过程的不同阶段,以及在不同建模工具和设计部门之间更加准确地描述系统的顶层模型,提出了一种新的面向复杂系统开放式顶层建模方法。基于元对象机制的元建模框架,对SysML进行基本衍型扩展和Simulink衍型扩展;在顶层建模中,把复杂系统划分为静态结构模型、动态行为模型以及两种模型间的交互关系;并对各抽象层次模型进行形式化定义,实现多种异构模型的有效集成。最后,在某无人机飞控系统顶层建模实例中,对基于顶层模型进行了飞控系统的统一建模描述,实现了复杂系统中多种异构模型的高层次抽象,验证了该方法对复杂系统顶层建模的有效性。     

某型导弹飞控计算机半实物仿真系统的设计

半实物仿真试验是导弹控制系统研制过程中的重要手段。文章针对某型导弹的飞控系统半实物仿真试验的任务需求,基于RT-LAB仿真环境搭建了半实物仿真系统,介绍了仿真试验步骤,并给出数字仿真和半实物仿真的对比结果。研究表明,该仿真系统能够方便快捷地将数学模型应用于半实物仿真试验中,降低了构建系统的难度,缩短了研制周期,并具有较高的灵活性和可扩展性。     

大范围飞控系统建模及其稳定性分析

基于单工作点飞控模型,给出了一种适用于大运行范围的不确定性模型建模方法.以某飞控系统为例,建立了适合于多工作点的不确定性模型,并对其稳定性进行了仿真研究.     

无人机大气数据检测系统的设计

为提高无人机大气数据（高度、空速）检测速度，优化飞行控制性能，设计了基于GM8123芯片的快速数据检测系统。运用串口扩展技术完成三个异步串口数据的并行通讯，进而实现了对动压静压数据的同步采集和实时响应飞控计算机的校正命令。实验证明，该系统性能指标优于原有未采用串口扩展技术的检测系统，对于提高无人机大气数据检测的动态性能有较高实用价值。     

基于无人机平台的制导控制半实物仿真系统研究

基于无人机制导控制一体化和实时仿真技术,设计了一种新的包括惯性导航系统、GPS系统、三轴转台、仿真计算机和显示监控系统等的半实物仿真系统.该系统运用仿真计算机采集导航控制一体计算机的输出信号,进行无人机运动学、动力学模型实时解算,并将姿态信息传输给三轴转台;三轴转台和惯性测量装置完成无人机航向、姿态等模拟;导航和控制计算机运用导航信息生成控制指令,传输到仿真计算机.试验结果表明:惯性导航算法设计合理,仿真步长1ms,控制信号误差小于1%,该系统可以实现微型化,模块化,改进后可应用到无人机的制导和控制系统中.     

Design of an Integrated SITL and HITL Simulation System for the Control of a Loitering Aerial Vehicle

An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop(HITL) platform for aircraft flight simulation based on MATLAB/Simulink+dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF (degree of freedom) motion. Based on the platform,the study was then focused on the fligh...     

RTX的三轴仿真转台实时控制软件设计与实现

本文以实际应用为背景,针对三轴仿真转台控制系统实时性,稳定性需求,研究了基于RTX的实时控制系统的设计和实现方法.依据RTX实时控制的基本原理,并根据转台控制系统要求,采用“Windows+RTX”综合软件平台,设计并实现了转台控制系统实时软件.实验证明,基于RTX的三轴仿真转台实时控制软件达到了系统的设计指标,实时性...     

半实物仿真技术在过程控制实验系统中的应用

介绍了半物理仿真的概念,并提出了一种简易的过程控制实验系统的构建方案．利用Matlab仿真工具,将半实物仿真技术和实验系统很好地结合起来,为高级控制算法的研究和验证提供了一个良好的实验平台,因此这套实验系统具有实际的应用价值．     

Implementation of VxWorks in autopilot for micro aerial vehicle based on PXA255 and FPGA

The overall hardware construction of autopilot within micro aerial vehicle is presented.The boot process of VxWorks real-time operating system as well as the conception and function of board-support package(BSP)is described.And the transplantation process of the VxWroks operating system into the hardware platform mentioned above is highlighted.It is shown from the final results that VxWorks has high stability and real-time performance,ensuring accurate flight control and a smooth flight of the micro aerial vehicle.     

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the electronic control unit(ECU)in modern diesel engines, and to diminish potential damages on components or human exposure to dangers in R&D endeavor. This platform consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A typical model of diesel engine with turbocharger and intercooler is presented. Based on this model our research is carried out with a real ECU to test its software control strategies. Results show that by using the diesel engine model downloaded inside, the hardware-in-the-loop platform can simulate diesel engine's working conditions and generate all kinds of sensor signals which ECU needs on a real-time basis. So the ECU control strategies can be validated and relevant parameters roughly calibrated.     

某型无人机舵控系统的设计与仿真

基于某型无人机飞行控制地面仿真验证系统的需要,分析了其舵机控制系统各组成部分的原理,利用Simulink工具箱建立了电传舵控系统的数学模型,对转速控制律和位置控制律进行了设计.对带有转速控制回路和未加转速控制回路的舵机控制系统以及加入扰动后的舵机控制系统分别进行了仿真验证.仿真结果表明：所设计的舵机控制系统动态性能及跟踪性能好,抗干扰能力强,能够满足某型无人机飞行控制的要求及飞行控制地面仿真验证系统的需要,为该系统的研究提供了技术保障.     

New Solution on Distributed Hardware-in-the-Loop Radar System Simulation on HLA

In the large-scale distributed hardware-in-the-loop radar simulation system based on HLA, a new solution ofprocessing after acquisition is proposed, which separates the software subsystem from the hardware jammer subsystem bya response database, so as to settle the problem,that the software subsystem can not meet the real-time need of thehardware,with very little increment of code. And the data completeness and feasibility of this solution are discussed.     

基于LabVIEW的无人机燃油组件检测系统设计

为提高无人机的修理检测效率,对无人机燃油组件系统的检测进行了研究.基于虚拟仪器的概念,利用LabVIEW虚拟仪器平台,根据无人机燃油组件工作原理对待测参数进行分析;根据分析结果选取合适的传感器等器件,给出了合理的软件流程,完成了某型无人机燃油组件检测系统的硬件和软件的设计.测试结果显示:该检测系统运行稳定可靠,检测结果准确     

Three-Dimensional Kinematics Simulation of Robot Fighting Platform in Virtual Environment

A method of 3D kinematics simulation of robot fighting platform (RFP) in virtual environment is proposed with the aim of enhancing vision telepresence. Based on the theory of space coordinate transformation, kinematics equations of RFP are formulated; followed by applying a method of modeling using 3DMAX software to build an RFPs 3D geometric model before a 3D kinematics simulation system of RFP is completed based on virtual reality technology and Open Inventor VC++. Test results have indicated that this system can perform RFPs kinematics simulation in virtual environment. It can also imitate RFPs motion states and environmental features well. Moreover, not only can better real-time performances and interactions be achieved but also operators vision telepresence be enhanced, therefore this approach may help lay the foundation for the realization of RFPs teleoperation with vision telepresence.     

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing de fects caused by the complicated logical structure and multiple-functional build up of the electronic control unit(ECU)in modern diesel engines, and to diminis h potential damages on components or human exposure to dangers in R&D endeavor. This platform consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A ty...