基于Stateflow的 无人机多模态控制转换逻辑设计

UAV Mult-Mode Control Logic Switching Design Based on Stateflow

摘要:

针对基于 Simulink建立的无人机飞行管理系统存在逻辑复杂、全飞行状态航迹仿真建模繁琐等缺点,文章利用有限状态机建立无人机全状态、多种导航控制模态下的控制和逻辑切换流程,并结合飞行管理系统、飞行控制系统和无人机运动学模型建立无人机全状态仿真系统,通过仿真对飞行工作模式的切换效果进行了验证。

Abstract:

Aiming at the UAV flight management system model based on Simulink, with the disadvantages of complicatedlogic and tedious modeling process to full flight state, in this paper, the finite state machine was used to establish the logicswitching process of UAV flight control system and various navigation control modes. Finally, combining the flight manage.ment system, the flight control system and the UAV kinematics model, the UAV full state simulation system was estab.lished. Through the simulation, the switching effect of the flight mode of operation was verified.