python实现飞行控制仿真(一)——PyFME（Python Flight Mechanics Engine）

一、PyFME安装

【目前关于PyFME的介绍比较少，利用很长时间才摸索整理出来，如需转载请标注来源】

【虚拟环境文件和测试代码下载地址：https://download.csdn.net/download/weixin_40493501/12668803】

因为PyFME不是标准的第三方库，无法使用pip直接安装（目前pip直接安装的是0.1版本的），可以直接去GitHub网站下载源代码进行安装和使用，源码网址：https://github.com/AeroPython/PyFME

1、首先在pycharm中创建虚拟环境，创建过程参考https://blog.csdn.net/weixin_40493501/article/details/107632104

2、在虚拟环境中单独安装下载后的PyFME压缩包

首先解压，在pycharm的terminal窗口下转至解压的文件夹下依次运行：

python setup.py build

python setup.py install

 两条命令依次运行，不要同时运行，在运行第二条命令时等待时间会较长，因为虚拟环境中没有任何的第三方库，需要根据PyFME进行逐一配置

二、测试

# -*- coding: UTF-8 -*-
# 版本：
# 开发时间：2020/7/28 19:46
# 用户：
# Function: 

import matplotlib.pyplot as plt

from pyfme.aircrafts import Cessna172
from pyfme.environment.atmosphere import ISA1976
from pyfme.environment.wind import NoWind
from pyfme.environment.gravity import VerticalConstant
from pyfme.environment.environment import Environment
from pyfme.utils.trimmer import steady_state_trim
from pyfme.models.state.position import EarthPosition
from pyfme.models import EulerFlatEarth
from pyfme.utils.input_generator import Constant
from pyfme.simulator import Simulation




aircraft = Cessna172()
print(f"Aircraft mass: {aircraft.mass} kg")
print(f"Aircraft inertia tensor: \n {aircraft.inertia} kg/m²")
print(f"forces: {aircraft.total_forces} N")
print(f"moments: {aircraft.total_moments} N·m")

atmosphere = ISA1976()
gravity = VerticalConstant()
wind = NoWind()
environment = Environment(atmosphere, gravity, wind)


pos = EarthPosition(x=0, y=0, height=1000)
psi = 0.5  # rad
TAS = 45  # m/s
controls0 = {'delta_elevator': 0, 'delta_aileron': 0, 'delta_rudder': 0, 'delta_t': 0.5}

trimmed_state, trimmed_controls = steady_state_trim(
    aircraft,
    environment,
    pos,
    psi,
    TAS,
    controls0
)

environment.update(trimmed_state)

forces, moments = aircraft.calculate_forces_and_moments(trimmed_state, environment, controls0)

system = EulerFlatEarth(t0=0, full_state=trimmed_state)


controls = controls = {
    'delta_elevator': Constant(trimmed_controls['delta_elevator']),
    'delta_aileron': Constant(trimmed_controls['delta_aileron']),
    'delta_rudder': Constant(trimmed_controls['delta_rudder']),
    'delta_t': Constant(trimmed_controls['delta_t'])
}

sim = Simulation(aircraft, system, environment, controls)

results = sim.propagate(15)

kwargs = {'marker': '.',
          'subplots': True,
          'sharex': True,
          'figsize': (12, 6)}

results.plot(y=['x_earth', 'y_earth', 'height'], **kwargs);

results.plot(y=['psi', 'theta', 'phi'], **kwargs);

results.plot(y=['v_north', 'v_east', 'v_down'], **kwargs);

results.plot(y=['p', 'q', 'r'], **kwargs);

results.plot(y=['alpha', 'beta', 'TAS'], **kwargs);

results.plot(y=['Fx', 'Fy', 'Fz'], **kwargs);

results.plot(y=['Mx', 'My', 'Mz'], **kwargs);

results.plot(y=['elevator', 'aileron', 'rudder', 'thrust'], **kwargs);

plt.show()