Autonomous Flight Control and Hardware-in-the-Loop Simulator for a Small Helicopter

Ng, Tzer Leei; Krishnamurthy, P.; Khorrami, Farshad; Fujikawa, Steve

doi:10.3182/20050703-6-cz-1902.00256

Cited by 12 publications

(4 citation statements)

References 13 publications

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“…The test environment can be upgraded to include hardwarein-the-loop capabilities. This will make it possible to develop the embedded flight controller and test hardware integration before the first real test-flight (Ng et al, 2005). In addition, the controller can be improved by employing a time-invariant LQR controller which will improve the inner loop response (van Schalkwyk, 2008).…”

Section: Discussionmentioning

confidence: 99%

Flight Controller and Low-Cost Test Environment for a Simulated Helicopter

Terblanche

Uren

Schoor

2014

IFAC Proceedings Volumes

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In this paper, optimal linear control techniques are utilised to control a radio-controlled helicopter (30 size) in the AeroSIMRC simulation environment. A grey-box time-domain system identification method is used to estimate a linear state space model that operates in hover mode. Identifying the unknown parameters in the model is highly dependent on the initial values and the input data. The model is divided into subsystems to make estimation possible. The identified state space model shows a good measure of fit compared to the simulator's flight data. A linear quadratic controller forms the inner-loop, and an optimised PID outer-loop generates attitude commands from a given inertial position trajectory. An observer estimates the unmeasured states such as blade flapping. The controller is developed in Simulink ® with a plug-in written for the AeroSIMRC flight simulator. The plug-in enables Simulink ® to control the simulator through a User Datagram Protocol interface for the purpose of model and controller validation. The proposed methodology facilitates a low cost test environment for new flight control algorithms. The simulation results show that the controller keeps the helicopter stable in the presence of considerable environmental disturbances and plant uncertainties.

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Section: Discussionmentioning

confidence: 99%

Flight Controller and Low-Cost Test Environment for a Simulated Helicopter

Terblanche

Uren

Schoor

2014

IFAC Proceedings Volumes

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“…The currently available sensors on the USSV include a compass, a GPS, and water speed and depth sensors and the available actuator inputs include rudder angle and port and starboard throttles. In addition, our avionics box (which is the same as used in our work on helicopter control (Ng et al [2005])) is interfaced with the notebook computer via a serial port. This avionics box provides a six degree-of-freedom IMU with an update rate of 50 Hz.…”

Section: Experimental Setup and Hitl Simulation Platformmentioning

confidence: 99%

Obstacle Avoidance for Unmanned Sea Surface Vehicles: A Hierarchical Approach

Krishnamurthy

Khorrami

2008

IFAC Proceedings Volumes

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“…HIL simulation refers to replacing a part of the simulation system with a real object and connecting it to the loop of the whole simulation system [1][2][3] . HIL simulation belongs to system simulation science and technology.…”

Section: Introductionmentioning

confidence: 99%

Research on flight control system hardware in the loop simulation system based on NI hardware platform for Unmanned Aerial Vehicle

Cai²,

He³

2022

J. Phys.: Conf. Ser.

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HIL(Hardware in the loop) simulation of UAV(Unmanned Aerial Vehicle) plays an important role in flight control sysrtem development and algorithm verification. Taking the open source flight control system Pixhawk as the research object, this paper establishes a HIL system based on NI(National Instrument) hardware platform. The dynamic model and kinematic model are modeled through Simulink, the online management of simulation model is realized through Veristand, and the online display of model parameters and fault injection are realized through Labview. The simulation system can test the functional performance, reliability and safety of flight control system. The simulation results show that the simulation platform works reliably and has good real-time performance. It can effectively and reliably carry out the HIL of flight control system for UAV.

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Autonomous Flight Control and Hardware-in-the-Loop Simulator for a Small Helicopter

Cited by 12 publications

References 13 publications

Flight Controller and Low-Cost Test Environment for a Simulated Helicopter

Flight Controller and Low-Cost Test Environment for a Simulated Helicopter

Obstacle Avoidance for Unmanned Sea Surface Vehicles: A Hierarchical Approach

Research on flight control system hardware in the loop simulation system based on NI hardware platform for Unmanned Aerial Vehicle

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