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Hardware-in-the-Loop Development System for Rotary-Wing/Fixed-Wing UAVs
Qi JT(齐俊桐); Liu, Jinda
作者部门机器人学研究室
会议名称2013 Chinese Automation Congress
会议日期November 7-8, 2013
会议地点Changsha, China
会议录名称2013 Chinese Automation Congress
出版者IEEE Computer Society
出版地Washington, United States
2013
页码432-437
收录类别EI ; CPCI(ISTP)
EI收录号20141817640171
WOS记录号WOS:000352503500083
产权排序1
ISBN号978-1-4799-0332-0
关键词Hil Development Platform Uav Flightgear
摘要In this paper, according to many kinds of hardware-in-the-loop (HIL) simulation systems, especially for the one setting controller as the hardware part, a general HIL development platform was constructed. This platform is consisted of serial input and output communication models, which can be widely used in many kinds of Unmanned Aerial Vehicle (UAV) HIL simulation systems. Changing the UAV model in Simulink and control algorithm in hardware, a new HIL simulation model will be built. This paper references a HIL simulation platform for Rotary-Wing Unmanned Aerial Vehicle (RUAV) developed by Shenyang Institute of Automation, Chinese Academy of Science, then properly modified the communication models and successfully applied them on the Fixed-Wing UAV (FUAV) HIL simulation platform. The HIL method is an effective way to construct a more realistic development platform. The system constructed in this paper not only uses the hardware equipment as the control unit, but also represents the FUAV dynamics model in the Matlab/Simulink environment. Besides, this system also brings in the FlightGear interfacing software to help testers obviously observe the flight state changes. This development pattern brings many advantages for developing the flight dynamics models and controllers of different kinds of UAVs. Results from HIL and realistic flight simulation promote the development, improvement, and realization processes of the UAV flight control algorithms and meanwhile assess the adequacy of the flight model.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13914
专题机器人学研究室
通讯作者Qi JT(齐俊桐)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, China
推荐引用方式
GB/T 7714
Qi JT,Liu, Jinda. Hardware-in-the-Loop Development System for Rotary-Wing/Fixed-Wing UAVs[C]. Washington, United States:IEEE Computer Society,2013:432-437.
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