摘要
无人机的飞行轨迹具有明显的分段特性,且在各飞行段内其飞行状态和控制方式有明显的区别。针对这一特点,可以通过建立飞行全过程的控制逻辑模型实现对无人机的监控任务。Stateflow是一个基于有限状态机理论的图形化离散事件仿真环境,可以用于控制逻辑建模。利用Stateflow建立了某小型无人机飞行全过程的控制逻辑模型,为无人机的控制逻辑建模提供了新的设计方法。通过对所研究的小型无人机非线性系统模型进行仿真,验证了所建立的控制逻辑模型的正确性。
The flight tracks of UAV have distinct characteristic of subsection,and in each subsection the flight state and control method also have obvious distinction.Based on this characteristic,we can actualize watching and controlling for UAV throughout building the Control Logic about all flying course.Stateflow is a graphical simulation environment for discrete event based on Finite State Machine.Through modeling the SUAV＇s control logic based on Stateflow,the paper present a new way which can be used for designing of UAV＇s control logic.Pass through some simulation research of SUAV＇s non-linear model,proving validity of the control logic model.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第9期93-97,共5页
Fire Control & Command Control
基金
总装预研基金资助项目(9140A25040307HK0306)
关键词
状态图
控制逻辑
有限状态机
小型无人机
stateflow
control logic
finiteState machine
small unmanned air vehicle
