Lesson 4 Modeling and Simulation of Vehicle Motion
Under different simulation software, simulation methods and simulation conditions, the simulation results of the same product or engineering scheme should be consistent or comparable to ensure the effectiveness and reliability of the simulation. RflySim Unmanned System Simulation Platform is a model-based development platform designed specifically for the control and safety testing of unmanned systems. It provides standard model templates and modeling processes, as well as simulation processes, thus ensuring the consistency of simulation. The RflySim unmanned system simulation platform provides standard model templates and the principles of modeling process and simulation process are as follows:
- Model templates: The RflySim platform provides a variety of model templates for unmanned systems, including trolley, fixed-wing, vertical take-off and landing (VTOL), etc. Users can select the appropriate model template according to their own needs, and modify the parameters of the model according to the standard interface, such as mass, inertia, aerodynamic coefficient, etc., to adapt to their own unmanned system. The role of the model template is to provide a unified model structure and format, which is convenient for users to build and modify the model, and also ensures the comparability and compatibility between different models.
- Modeling process: RflySim platform adopts the model-based development concept. Users can use MATLAB/Simulink or Python and other programming platforms for controller design and application development of unmanned systems, such as attitude controller, position controller, top-level decision-making, autonomous flight, etc. The role of the modeling process is to provide an efficient development environment, users can use the existing toolbox and function library for rapid algorithm development and verification, but also to ensure the portability and scalability between different algorithms.
Imulation flow: aft model development based on MATLAB/Simulink, C + + file is automatically generated from codes and a DLL (dynamic link library) model is generated through platform Generate ModelDLLFile. The DLL model is imported into CopterSim to form a dynamic simulation model. The motion simulation model has multiple input and output interfaces for data interaction with the underlying controller, 3D engine, ground control station and external control. RflySim platform supports both Software-in-the-Loop (SIL) and Hardware-in-the-Loop (HIL) simulation modes, and users can select the appropriate simulation mode for simulation test according to their own needs. Software-in-the-loop simulation means running the model and controller of the unmanned system on the computer, and simulating through virtual sensors and actuators, which can quickly evaluate the performance and stability of the controller. Hardware-in-the-loop simulation means that the controller is deployed to a real hardware device, such as Pixhawk flight control, and the performance and robustness of the controller can be more realistically evaluated by interacting with the unmanned system model on the computer through real sensors and actuators. The function of the simulation process is to provide a flexible test environment, so that users can simulate in different simulation modes, and at the same time, it ensures the consistency and convertibility between different simulation modes.
- 4.2、wonderful cases of This chapter
- 4.3、FAQs in this chapter