Design and implementation of a hardware-in-the-loop simulation system for small-scale UAV helicopters

作     者：Cai, Guowei Chen, Ben M. Lee, Tong H. Dong, Miaobo 

作者机构：Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore 

出 版 物：《MECHATRONICS》 (机械电子学)

年 卷 期：2009年第19卷第7期

页      面：1057-1066页

核心收录：

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：Defence Science and Technology Agency (DSTA) of Singapore 

主　　题：Hardware-in-the-loop simulation UAV Helicopter Flight control 

摘      要：We present in the paper the design of a hardware-in-the-loop simulation framework and its actual implementation on our custom constructed unmanned-aerial-vehicle (UAV) helicopter systems. Real-time hardware-in-the-loop simulation is one of the most effective methods for the verification of the overall control performance and safety of the UAVs before conducting actual flight tests. In our proposed framework, four modules, which include onboard hardware, flight control, ground station and software, are integrated together to realize the hardware-in-the-loop simulation. This design is successfully utilized for simulating several flight tests including basic flight motions, full-envelope flight and multiple UAV formation flight. Results obtained show that the constructed hardware-in-the-loop simulation system is highly effective and useful. (C) 2009 Elsevier Ltd. All rights reserved.