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题名: A full-functional Simulation and Test Platform for Rotorcraft Unamnned Aerial vehicle Automouse Control
作者: Wang ZM(王子铭) ; Song DL(宋大雷) ; Qi JT(齐俊桐) ; Han JD(韩建达) ; Yu, Miao(于淼) ; Lijun Meng ; Shuaike Zhao ; Li, Ming(李明)
作者部门: 机器人学研究室
会议名称: 2012 1st International Conference on Robot Intelligence Technology and Applications (RiTA)
会议日期: December 16-18, 2012
会议地点: Gwangju, Korea
会议主办者: IEEE Computational Intelligence Society
会议录: Advances in Intelligent Systems and Computing
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 537-547
收录类别: EI
ISBN号: 978-3-642-37374-9
关键词: unmanned helicopter ; hardware in the loop simulation ; system identification
摘要: In this paper, a prototype Hardware in the loop (HIL) simulation and test platform for ServoHeli40 and ServoHeil120 rotorcraft unmanned aerial vehicles have been developed in Shenyang Institute of Automation, Chinese Academy of Science. This simulation system includes a 3D flight and scenery simulator, a flight control systems, a ground control station, and a RC pilot controller. Based on a semi-decoupled flight dynamic model, which is acquired from a frequency domain system identification method using real flight hovering data, an autonomous PID controller is implemented and verified in both simulation and real flight tests. To fulfill agricultural, marine and industrial applications, the application oriented functionalities of the flight control system has been developed and fully tested before deployment in the field. And it is also beneficial to further research such as human factors in operating UAV systems and UAV task load issues.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10182
Appears in Collections:机器人学研究室_会议论文

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