Design and implementation of a hardware-in-the-loop simulation system for small-scale UAV helicopters
Design and implementation of a hardware-in-the-loop simulation system for small-scale UAV helicopters
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DOI：
10.1016/j.mechatronics.2009.06.001
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发表时间：
2009-10-01
期刊：
影响因子：
3.3
通讯作者：
Dong, Miaobo
中科院分区：
文献类型：
--
作者：
Cai, Guowei;Chen, Ben M.;Dong, Miaobo
我们在论文中介绍了硬件在环仿真框架的设计及其在我们定制的无人机（UAV）直升机系统上的实际实现。实时半实物仿真是无人机实际飞行试验前验证整体控制性能和安全性最有效的方法之一。在我们提出的框架中，将机载硬件、飞行控制、地面站和软件四个模块集成在一起，实现硬件在环仿真。该设计已成功用于模拟基本飞行动作、全包络飞行和多无人机编队飞行等多项飞行测试。结果表明所构建的半实物仿真系统是高效、实用的。 (C) 2009 Elsevier Ltd. 保留所有权利。
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.