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Modeling of a Hardware-inthe-loop Simulator for Uav Autopilot Controllers
| Content Provider | Semantic Scholar |
|---|---|
| Author | Santos, Sergio Ronaldo Barros Dos Oliveira, Neusa Maria Franco De |
| Copyright Year | 2011 |
| Abstract | Hardware in the Loop (HIL) Simulator is an important step in system design & development. In the present work, a lateral and longitudinal control system for Unmanned Aerial Vehicle (UAV) target was designed and implemented in a dedicated platform. Then, the X-Plane flight simulator is used to test and to validate the controllers designed. Therefore, the controllers to be implemented in the hardware can be rapidly reconfigured and optimized before this hardware is embedded on the vehicle, which makes the development and evaluation of UAV autopilot controllers easier. Presently this technology is used in aerospace engineering area as one method to test the flight guidance and control system in which reliability and high performance is demanded. Also, a Ground Control Station (GCS) was developed to receive telemetry data from the navigation system of the virtual unmanned aircraft available in X-Plane and to transmit the data reference for the closed loop control implemented in dedicated hardware. The data link transmission between the dedicated hardware and the GCS is established using XBee® RF modules. The HIL simulator system developed has the ability to simulate aircraft flight characteristic, sensor modeling and actuator modeling while communicating in real time with the lateral and longitudinal autopilot hardware. HIL simulation can be used to test the lateral and longitudinal autopilot hardware reliability, test the closed loop performance of the overall system and tuning the control parameter. By rigorous tests in the HIL simulator, the risk in the field trial can be minimized. The autopilot has a total of six control loops, pitch, altitude, vertical speed and forward speed for longitudinal control and roll and direction for lateral control. The dedicated platform consists of a microcontroller board, which hosts the digital autopilot. The interconnection between the dedicated hardware and the X-Plane flight simulator running in a PC is made through UDP data communication bus. The Ground Station allows the user to define the reference of autopilot control loop, to tune the gains of all controllers on-line and receive the data navigation from the UAV target via RF modules interface, visualizing these data in graphics. The results presented here were obtained from the digital autopilot used in closed loop control implemented in a microcontroller board, using as reference parameters values adjusted in the Ground Control Station. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.ele.ita.br/~pavant/MODELING%20OF%20A%20HARDWARE-IN-THE-LOOP%20SIMULATOR%20FOR%20UAV%20AUTOPILOT%20CONTROLLERS.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
