scholarly journals Design and Implementation of a Hardware-in-the-Loop Simulation System for a Tilt Trirotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Li Yu ◽  
Guang He ◽  
Shulong Zhao ◽  
Xiangke Wang ◽  
Lincheng Shen
Keyword(s):  
Simulation System ◽  
Theory And Practice ◽  
Hardware In The Loop ◽  
Verification Method ◽  
Transition Strategy ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
And Control ◽  
Flight Model ◽  
Hil Simulation

The tilt trirotor unmanned aerial vehicle (UAV) is a novel aircraft that has broad application prospects in transportation. However, the development progress of the aircraft is slow due to the complicated control system and the high cost of the flight experiment. This work attempts to overcome the problem by developing a hardware-in-the-loop (HIL) simulation system based on a heavily developed and commercially available flight simulator X-Plane. First, the tilt trirotor UAV configuration and dynamic model are presented, and the parameters are obtained by conducting identification experiments. Second, taking the configuration of the aircraft into account, a control scheme composed of the mode transition strategy, hierarchical controller, and control allocation is proposed. Third, a full-scale flight model of the prototype is designed in X-Plane, and an interface program is completed for connecting the autopilot and X-Plane. Then, the HIL simulation system that consists of the autopilot, ground control station, and X-Plane is developed. Finally, the results of the HIL simulation and flight experiments are presented and compared. The results show that the HIL simulation system can be an efficient tool for verifying the performance of the proposed control scheme for the tilt trirotor UAV. The work contributes to narrowing the gap between theory and practice and provides an alternative verification method for the tilt trirotor UAV.

Development of Hardware In-the-Loop Simulation System for Testing Operation and Control Functions of Microgrid

2010 ◽  
Vol 25 (12) ◽  
pp. 2919-2929 ◽  
Author(s):  
Jin-Hong Jeon ◽  
Jong-Yul Kim ◽  
Hak-Man Kim ◽  
Seul-Ki Kim ◽  
Changhee Cho ◽  
...  
Keyword(s):  
Simulation System ◽  
Hardware In The Loop ◽  
Control Functions ◽  
And Control

Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

SIMULATION ◽  
2019 ◽  
Vol 96 (2) ◽  
pp. 169-183
Author(s):  
Saumya R Sahoo ◽  
Shital S Chiddarwar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Simulation Model ◽  
Vision System ◽  
Control Input ◽  
Hardware In The Loop ◽  
Omnidirectional Mobile Robot ◽  
Time Simulation ◽  
Control Scheme ◽  
Hil Simulation

Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots.

Design and Control of a Mini Quad-Rotor UAV Based on Embedded System

2012 ◽  
Vol 442 ◽  
pp. 477-481
Author(s):  
Man Man Du ◽  
Feng Jin
Keyword(s):  
Embedded System ◽  
Inertial Sensor ◽  
Nonlinear Dynamic Model ◽  
Practical Applications ◽  
Control Scheme ◽  
Embedded Model ◽  
Aerial Vehicle ◽  
Working Principle ◽  
And Function ◽  
And Control

In this paper, one kind of quad-rotor UAV (unmanned aerial vehicle) controller is designed according to analyze its structure and function. The hardware platform is established based on DSP MC56F8037, inertial sensor unit, as well as facilities that make it suitable for the dynamic system. According to the analysis of the working principle of the quad-rotor, the nonlinear dynamic model is established. This is a hierarchical embedded model based control scheme that is built upon the concept of backstepping, the simulation result shows the controllers are valid. This realization makes a great progress in the development process of a more advanced realization of an UAV suitable for practical applications.

SwarmSim: a framework for modeling swarming unmanned aerial vehicles using hardware-in-the-loop

2017 ◽  
pp. 154851291771515
Author(s):  
Derek B Worth ◽  
Brian G Woolley ◽  
Douglas D Hodson
Keyword(s):  
Control Strategies ◽  
Hardware In The Loop ◽  
Simulation Framework ◽  
Functional Capability ◽  
Simulation Tools ◽  
Steady Growth ◽  
Aerial Vehicle ◽  
The Cost ◽  
Software Extension ◽  
And Control

Unmanned Aerial Vehicle (UAV) swarm applications, algorithms, and control strategies have experienced steady growth and development over the past 15 years. Yet, to date, most swarm development efforts have gone untested and unimplemented. The major inhibitors to successful swarm implementation seem to include the cost of aircraft systems, government imposed airspace restrictions, and the lack of adequate modeling and simulation tools. This paper examines how the open-source OpenEaagles simulation framework was leveraged to bridge this gap to create Hardware-in-the-Loop (HIL) simulations. Leveraging OpenEaagles through software extension to create HIL simulations provides developers with a functional capability with which to develop and test the behaviors of scalable and modular swarms of autonomous UAVs. Using HIL-based simulations in this capacity provides assurance that defined behaviors will propagate to live flight tests in the real world. The demonstrations in the work show how the framework enhances and simplifies swarm development through encapsulation, possesses high modularity, provides realistic aircraft modeling, and is capable of simultaneously accommodating multiple hardware-piloted and purely simulated swarming UAVs during simulation.

Smith predictor compensation and fuzzy incremental control for delay of space docking hardware-in-the-loop simulation system

2021 ◽  
pp. 095441002110533
Author(s):  
Simiao Yu ◽  
Junwei Han ◽  
Wenming Zhang ◽  
Dongmei Xu
Keyword(s):  
Dynamic Response ◽  
Force Sensor ◽  
Parallel Robot ◽  
Simulation System ◽  
Smith Predictor ◽  
Control Methods ◽  
Hardware In The Loop ◽  
First Order ◽  
First Order Phase ◽  
Hil Simulation

Hardware-in-the-loop (HIL) simulation for space manipulator docking is an important means to simulate real space docking on the ground. The HIL simulation system in this paper utilizes the contact force measured by force sensor to calculate the dynamics of the mechanisms, and the docking process is simulated by the parallel robot. The measurement delay of force sensor and dynamic response delay of the parallel robot are inevitable, which not only affect the accuracy of simulation but also lead to the instability of the HIL simulation system. The traditional first-order phase compensation is the most commonly used force sensor compensator; but when the force changes with a high frequency, its compensation effect becomes bad, which will lead to the divergence of the HIL simulation system. Most control methods of the parallel robot are based on the model of the parallel robot, but the forces of the parallel robot are complex during the docking process, and the system parameters, motion frequency, and dynamic response characteristics are time-varying; thus, it is difficult to design the controller based on the model. In this paper, the Smith predictor compensation (SPC) method and fuzzy incremental control (FIC) method are utilized to decrease the delays of the force sensor and parallel robot, respectively. The effectiveness of the Smith predictor compensation and fuzzy incremental control method in reducing the delay of the HIL system and in improving the stability of the system is verified by simulation and experiment; compared with the traditional first-order phase compensation and proportional-integral-differential control methods, the advantages of the proposed methods are illustrated. The research in this paper provides an important technical means for accurately simulating the real docking process.

Hardware-in-the-Loop Simulation System in the Development of Temperature Controller of Plastic Extruder

2011 ◽  
Vol 201-203 ◽  
pp. 2063-2069
Author(s):  
Jia Lin Xu ◽  
Guo Kun Zuo ◽  
Jian Hua Chen
Keyword(s):  
System Modeling ◽  
Digital Simulation ◽  
Simulation System ◽  
Hardware In The Loop ◽  
Temperature Controller ◽  
Real Process ◽  
Modeling Analysis ◽  
Development Cycle ◽  
Xpc Target ◽  
Hil Simulation

In order to verify the performance of the designed temperature controller of the plastic extruder using supercritical CO2, we developed a Hardware-In-the-Loop (HIL) simulation system based on Matlab/Simulink RTW. In this platform, data transmission between real process and Matlab workshop was carried out by the data acquisition cards supported by xPC Target, so that the physical system was integrated to the simulation loop, and the system modeling, analysis, digital simulation and target downloading were all realized. The result showed that the designed temperature control algorithm had better effect when used in the plastic exturder production field. This HIL simulation system can shorten the development cycle and cost, improve the design level of the control system, and provide a solution to the demonstration of the controller in the real-time mode. What’s more, this simulation system can be applied in other process control fields as flow, pressure, etc.

Unmanned Air Vehicle Research Simulator - Prototyping and Testing of Control and Navigation Systems

2013 ◽  
Vol 198 ◽  
pp. 266-271 ◽  
Author(s):  
Paweł Rzucidło
Keyword(s):  
Flight Control ◽  
Navigation Systems ◽  
Hardware In The Loop ◽  
Unmanned Air Vehicle ◽  
University Of Technology ◽  
Small Uav ◽  
Air Vehicle ◽  
Aerial Vehicle ◽  
Data Bus ◽  
And Control

This paper presents an experimental research simulator of an Unmanned Aerial Vehicle (UAV) and supporting systems, designed at the Department of Avionics and Control, Rzeszow University of Technology. The research simulator enables hardware-in-the-loop testing of an autopilot, actuators, the ground control station and telemetry modules. Particular hardware blocks can be integrated with real-time environment with the use of a CAN data bus, Ethernet interface and a set of popular serial interfaces. Current experiments support development and hardware-in-the-loop testing of advanced flight control and navigation systems of a small UAV (taking into account both the on-board and the ground segments).

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