Aiming at the difficulty of modeling and low confidence of the nonlinear dynamic model of unmanned helicopter,which is not conducive to affecting system simulation and verification.First,the lin-earization model group of unmanned helicopter is introduced and the linearization of nonlinear model is studied;then,the real-time simulation algorithm and calculation process based on linearized model group are described;finally,the semi-physical simulation environment based on the linearized model group is de-signed,and the real-time simulation software,simulation monitoring software and FlightGear communica-tion design are completed and verified by simulation.The results show that the semi-physical real-time simulation system based on the linearized model group can well meet the engineering requirements and a-chieve the expected research objectives.
关键词
无人直升机/非线性动力学模型/线性化模型组/半物理仿真
Key words
unmanned helicopter/nonlinear dynamic model/linearized model group/semi-physical sim-ulation
维普
万方数据