Hardware-in-the-Loop Test Platform for a Small Fixed Wing Unmanned Aerial Vehicle Embedded Controller

2013 ◽  
Author(s):  
Onur B. Ertin ◽  
Halim Korkmaz ◽  
Ünver Kaynak ◽  
Coşku Kasnakoğlu
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Hardware In The Loop ◽  
Test Platform ◽  
Embedded Controller ◽  
Aerial Vehicle

scholarly journals SENSOR FUSION MENGGUNAKAN ACCELEROMETER RATE GYRO (ARG) UNTUK ESTIMASI SUDUT EULER PADA WAHANA TERBANG

ROTASI ◽  
2015 ◽  
Vol 17 (2) ◽  
pp. 84
Author(s):  
Mochammad Ariyanto
Keyword(s):  
Steady State ◽  
Sensor Fusion ◽  
Unmanned Aerial Vehicle ◽  
Hardware In The Loop ◽  
Matlab Simulink ◽  
Rate Gyro ◽  
Aerial Vehicle

Pada sistem control wahana terbang tanpa awak (Unmanned Aerial Vehicle) gabungan sensor accelerometer dan gyroscope sering dipakai untuk mengestimasi sudut Euler seperti sudut roll, pitch, dan yaw. Dalam penelitian ini, akan didesain sebuah instrumen yang dapat digunakan untuk mengestimasi sudut Euler wahana terbang tanpa awak dengan menggunakan gabungan sensor accelerometer dan gyroscope yang menggunakan algoritme sensor fusion seperti Accelerometer Rate Gyro (ARG). Intrumen ini dapat mengukur dan mengestimasi kecepatan sudut putar, percepatan linear, serta sudut Euler wahana terbang tanpa awak. Pada estimasi sudut menggunakan sensor accelerometer, hasilnya akan cukup bagus jika sensor accalerometer dalam kondisi statis, namun jika dalam kondisi dinamik maka sensor accelerometer akan gagal untuk mengestimasi sudut karena berasal dari error ketika mengalami percepatan. Sedangkan jika menggunakan gyroscope, estimasi sudut akan bagus dalam kondisi dinamik, dan buruk jika dalam kondisi statik karena adanya error drift. Oleh karena itu perlu dilakukan sensor fusion antara accelerometer dan gyroscope. Pemodelan dan algoritme sensor fusion dilakukan dalam lingkungan MATLAB/Simulink, implementasinya dilakukan menggunakan hardware in the loop simulation. Evaluasi kinerja sensor fusion yang sudah dibuat akan dilakukan dengan menganalisa pada kondisi steady state. Dari hasil pengujian HILS didapatkan bahwa masih terdapat noise yang relatif kecil pada sudut Euler.

Model-Based Design of UAV Autopilot Software

2013 ◽  
Vol 756-759 ◽  
pp. 2115-2119
Author(s):  
Ming Zuo ◽  
Ying Liu ◽  
Yi Qian ◽  
Xiong Wen Hu ◽  
Xiao Chuan Zhao ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Field Trials ◽  
Hardware In The Loop ◽  
Control Logic ◽  
Model Based ◽  
Aerial Vehicle ◽  
Trial Cost

This paper presents a Model-Based approach to develop UAV (Unmanned Aerial Vehicle) autopilot software. It employs Simulink to design the flight controller, Stateflow to implement control logic and Matlab coder to automatically generate embedded C code from the model developed. Software in the loop (SIL) and hardware in the loop (HIL) simulations are performed in the laboratory to validate the software developed. Flight trial cost and risks are minimized and the design cycles are greatly shortened. The feasibility and the effectiveness of the approach are verified through results from lab simulations and field trials.

scholarly journals Aerodynamic performance of a Hex-rotor unmanned aerial vehicle with different rotor spacing

2020 ◽  
Vol 53 (3-4) ◽  
pp. 711-718
Author(s):  
Yao Lei ◽  
Mingxin Cheng
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Necessary Conditions ◽  
Experimental Tests ◽  
Aerodynamic Performance ◽  
Spacing Ratio ◽  
Test Platform ◽  
Power Loading ◽  
Aerial Vehicle ◽  
Computational Fluid Dynamics Simulations ◽  
Dynamics Simulations

In this paper, an attempt was made to obtain the aerodynamic performance of a Hex-rotor unmanned aerial vehicle with different rotor spacing. The hover efficiency of the Hex-rotor unmanned aerial vehicle is analyzed by both experimental tests and numerical simulations. First, a series of index to characterize the aerodynamic performance of the Hex-rotor unmanned aerial vehicle are analyzed theoretically, and then both tests and simulations on a Hex-rotor unmanned aerial vehicle with different rotor spacing ratio ( i = 0.50, 0.56, 0.63, 0.71, 0.83) were presented in details. For a custom-designed test platform, the thrust, power loading and hover efficiency of the Hex-rotor unmanned aerial vehicle were obtained in this paper. Finally, computational fluid dynamics simulations are performed to obtain the streamline distributions of the flow field, pressure and velocity contour of the Hex-rotor unmanned aerial vehicle. Results show that the aerodynamic performance of the Hex-rotor unmanned aerial vehicle is varied by changing the rotor spacing. Specifically, the smaller rotor spacing may improve the aerodynamic performance of the Hex-rotor unmanned aerial vehicle by increasing the rotor interferences. In the meantime, the effects of mutual interference between the rotors are gradually reduced with the increase of the rotor spacing. Moreover, the uniformity of the streamline distribution, the shape and the symmetry of the vortex are necessary conditions for the Hex-rotor unmanned aerial vehicle to generate a larger thrust. It was also noted that the thrust increased by 5.61% and the overall efficiency increased by about 8.37% at i = 0.63 for the working mode (2200 r/min), which indicated that the rotor spacing ratio at i = 0.63 obtained a best aerodynamic performance.

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