无人机数字仿真平台的设计与实现

针对飞控系统的快速设计、测试和验证需求，在MATLAB/Simulink环境下构建了无人机数字仿真平台。该平台基于层次化、模块化思想，采用商用Simulink工具箱经用户定制设计而成。建立了仿真平台的通用框架和六自由度非线性全耦合运动学方程，考虑了重心变化、环境状况以及传感器与执行机构特性等实际情况，基于Stateflow与Simulink一体化设计了多模态飞控系统，实现了无人机全过程飞行仿真和稳态飞行仿真。仿真结果表明，该平台具有良好的逼真度，能够较真实的模拟实际飞行过程。

Design and Implementation of Digital Simulation Platform for UAV

Aiming at rapidly analyzing and validating flight control system, a digital simulation platform for Unmanned Aerial Vehicle (UAV) is developed in MATLAB/Simulink. With the principles of hierarchy and modularity, the platform is constructed by using a commercial Simulink toolboxes and a custom-designed simulation. It establish a common frame of the simulation platform and the 6-DOF(six degrees of freedom) nonlinear fully coupled equations of motion, the actual situation is considered, including the center of gravity change, environmental conditions and characteristics of sensors and actuators, etc. Based on Integrating Simulink with Stateflow, multi-mode flight control system was designed, a entire flight and steady state flight simulation were achieved. Compared with flight test, the platform has good fidelity, simulating real flight well.