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首页> 外文会议>Proceedings of the 6th IASTED international conference on biomechanics; Proceedings of the Second IASTED international conference on robotics. >DEVELOPMENT OF A LABORATORY HILS TESTBED SYSTEM FOR SMALL UAV HELICOPTERS
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DEVELOPMENT OF A LABORATORY HILS TESTBED SYSTEM FOR SMALL UAV HELICOPTERS

机译：小型直升机驾驶室实验室测试系统的开发

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摘要

An Unmanned Aerial Vehicle (UAV), especially helicopter,rnis an intricate machine which is very difficult to control.rnConventional control systems are built then tested by employingrnlong-term, costly and risky experiments by flyingrnthe real vehicle. To solve these problems, a laboratoryrntestbed system developed with Hardware-In-The-Looprnsimulation (HILs) is proposed for testing and evaluatingrnthe control systems. HILs system is built up from thernground in a laboratory environment without employing arnreal helicopter. The hardware features used in the systemrnenhances the realism of the simulation. HILs system allowsrnresearchers to not only reduce cost and risk but alsornsave time and readily repeat experiments in the developmentrnof UAVs. This research presents the design and implementationrnof a real-time HILs system. A HILs systemrnis comprised of a real-time simulator mimicking the motionrnof the flying helicopter and a control unit providingrnaccess to the real hardware features. The simulator containingrnthe helicopter dynamic model is established by anrnxPC Target in Matlab/Simulink and the control unit executingrnthe designed control laws is developed under QNXrnRTOS. By synchronizing the system, several experimentsrnwith different scenarios have been successfully performed.rnThe results clearly indicate that HILs system is feasible andrnpracticable. It can be an efficient tool for developing, comprehensivelyrntesting and validating flight control systems.
机译：无人飞行器（UAV），尤其是直升机，是一种很难控制的复杂机器。然后，通过对真实飞行器进行长期，昂贵和高风险的实验，对常规控制系统进行了测试。为了解决这些问题，提出了一种使用硬件在环仿真（HIL）开发的实验室测试平台系统，用于测试和评估控制系统。 HILs系统是在实验室环境中从地面建立的，而无需使用阿尔卡雷尔直升机。系统中使用的硬件功能增强了仿真的真实性。 HILs系统使研究人员不仅可以降低成本和风险，还可以节省时间，并且可以轻松地在开发型无人机中重复进行实验。这项研究提出了实时HIL系统的设计和实现。一种硬件在环系统，由模拟飞行中的直升机的实时模拟器和提供对真实硬件功能的访问的控制单元组成。由Matlab / Simulink中的annxPC Target建立包含直升机动态模型的仿真器，并在QNXrnRTOS下开发执行设计的控制律的控制单元。通过对系统的同步，成功完成了几种不同场景的实验。结果清楚地表明，HILs系统是可行的。它可以成为开发，全面测试和验证飞行控制系统的有效工具。

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