Design and implementation of a real-time hardware-in-the-loop testing platform for a dual-rotor tail-sitter unmanned aerial vehicle

Sun, Jingxuan; Li, Boyang; Wen, Chih-Yung; Chen, Chih Keng

doi:10.1016/j.mechatronics.2018.10.001

Cited by 31 publications

(22 citation statements)

References 10 publications

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“…An example of a platform to simulate and test the control system of a tail-sitter UAV has been presented in [16] as an efficient tool for developing the control system. Through the component breakdown approach, a mathematical model of dynamics covering the full angle-of-attack range has been derived along with an environmental model to provide essential information about the environmental influence on the vehicle, such as wind field estimation and wind disturbance control.…”

Section: Systems For Quadcopters Testingmentioning

confidence: 99%

“…A commonly used open-source flight controller has been embedded in the proposed framework. The proposed platform has been validated with the typical complete flight scenarios of a tail-sitter, including hovering, forward transition, cruise, and back transition [16]. However, the choice of using the off-the-shelf Pixhawk (controller designed in the team led by Lorenz Meier in Zurich, Switzerland) as a flight controller unit allows only the Pixhawk controller parameters to be tuned.…”

Section: Systems For Quadcopters Testingmentioning

confidence: 99%

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The Design and Implementation of a Custom Platform for the Experimental Tuning of a Quadcopter Controller

Waliszkiewicz

Wojtowicz

Rochala

et al. 2020

Sensors

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This paper describes the development process of the quadcopter-based unmanned flying platform, designed for testing and experimentation purposes. The project features custom-made hardware, which includes the prototype quadcopter frame and the flight controller, and software solutions, such as control loop setup. The article specifies the controller tuning used for the initialization of the flight stabilization system and presents the final results of the quadcopter performance evaluation.

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Section: Systems For Quadcopters Testingmentioning

confidence: 99%

Section: Systems For Quadcopters Testingmentioning

confidence: 99%

The Design and Implementation of a Custom Platform for the Experimental Tuning of a Quadcopter Controller

Waliszkiewicz

Wojtowicz

Rochala

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…HILS is an effective way for the implementation of advanced control law to hardware, which bridges the practical real-time control and the numerical simulation together [27]. Compared with the three-axis motion platform, SP is more open and has a greater advantage in load capacity and space, the UAV can be directly fixed to the platform for a complete HILS experiment, and the platform can perform 6-DOF motions to realize the coupling of linear and angular motion.…”

Section: Stewart Platform (Sp) Modelingmentioning

confidence: 99%

Automatic Control and Model Verification for a Small Aileron-Less Hand-Launched Solar-Powered Unmanned Aerial Vehicle

et al. 2020

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This paper describes a low-cost flight control system of a small aileron-less hand-launched solar-powered unmanned aerial vehicle (UAV). In order to improve the accuracy of the whole system model and quantify the influence of each subsystem, detailed modeling of UAV energy and a control system including a solar model, engine, energy storage, sensors, state estimation, control law, and actuator module are established in accordance with the experiment and component principles. A whole system numerical simulation combined with the 6 degree-of-freedom (DOF) simulation model is constructed based on the typical mission route, and the parameter precision sequence and energy balance are obtained. Then, a hardware-in-the-loop (HIL) experiment scheme based on the Stewart platform (SP) is proposed, and three modes of acceleration, angular velocity, and attitude are designed to verify the control system through the inner and boundary states of the flight envelope. The whole system scheme is verified by flight tests at different altitudes, and the aerodynamic force coefficient and sensor error are corrected by flight data. With the increase of altitude, the cruise power increases from 47 W to 78 W, the trajectory tracking precision increases from 23 m to 44 m, the sensor measurement noise increases, and the bias decreases.

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“…The states that the MPC controller needs will be measured from the dynamic model and fed to the controller. The detailed parameter settings are presented in Table II and Table III for longitudinal and lateral MPC controller, respectively A simulation environment and the simulation model of this tail-sitter UAV have been developed in our early works [22,37] for hovering controller development. This simulation model includes not only the basic dynamic and characteristics of this tail-sitter UAV but also a theoreticalbased aerodynamic model and an experimental-based propulsion model.…”

Section: Model Predictive Control Developmentmentioning

confidence: 99%

System Identification and Control for a Tail-Sitter Unmanned Aerial Vehicle in the Cruise Flight

et al. 2020

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Design and implementation of a real-time hardware-in-the-loop testing platform for a dual-rotor tail-sitter unmanned aerial vehicle

Cited by 31 publications

References 10 publications

The Design and Implementation of a Custom Platform for the Experimental Tuning of a Quadcopter Controller

The Design and Implementation of a Custom Platform for the Experimental Tuning of a Quadcopter Controller

Automatic Control and Model Verification for a Small Aileron-Less Hand-Launched Solar-Powered Unmanned Aerial Vehicle

System Identification and Control for a Tail-Sitter Unmanned Aerial Vehicle in the Cruise Flight

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