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首页> 外文期刊>International journal of aerospace engineering >An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles
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An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles

机译：面向对象的系统工程观点，用于开发四轮车无人驾驶车辆的控制器

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摘要

The aerospace industry needs to be provided with system solutions to technologically challenging and mission-critical problems. Based on the industrial control point of view, development engineers must take costs and existing standards into account in order to effectively design, implement, and deploy control systems with reasonable costs. The customization and reusability are important factors associated with the production of new applications in order to reduce their costs, resources, and development time. In this work, the Model-Driven Architecture (MDA)/Model-Based Systems Engineering (MBSE) approach combined with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), UnscentedKalmanFilter (UKF) algorithm, and hybrid automata is specialized to obtain a hybrid control model in order to conveniently deploy controllers of Quadrotor Unmanned Aerial Vehicles (Q-UAVs). This hybrid control model also provides a real-time capsule pattern, which allows the designed elements to be customizable and reusable in new applications of various multirotor UAVs of the Vertical Take-Off and Landing (VTOL) type. The Q-UAV dynamics and control architecture are combined with the MDA/MBSE specialization as follows: the Computation Independent Model (CIM) is defined by specifying the use-case model together with the UKF algorithm and hybrid automata to intensively gather the control requirements. The Platform Independent Model (PIM) is then designed by specializing the real-time UML/SysML's features to obtain the main control capsules, ports, and protocols, together with their dynamic evolution. The detailed PIM is subsequently transformed into the PSM by open-source platforms to rapidly implement and deploy the Q-UAV controller. The paper ends with trial flights and deployment results that show good feasibility to be used for a trajectory-tracking controller of a low-cost Q-UAV. In this case study, the Q-UAV controller is implemented with the simulation model in theOpenModelicatool. The obtained simulation results then allow the main control elements and their properties to be defined, as well as building the implementation libraries in theArduinoenvironment based on C++ language to quickly perform the realization model in theATMEGA32-U2andSTM32 Cortex-M4microcontrollers.
机译：需要将航空航天行业提供系统解决方案，以技术挑战和关键问题。基于工业控制的观点，开发工程师必须考虑到成本和现有标准，以便有效地设计，实施和部署具有合理成本的控制系统。定制和可重用性是与新应用程序的生产相关的重要因素，以降低成本，资源和开发时间。在这项工作中，模型驱动的架构（MDA）/基于模型的系统工程（MBSE）方法与实时统一建模语言（UML）/系统建模语言（SYSML），UNSCENTEDKALMANFILTER（UKF）算法（UKF）算法和混合自动机专门用于获得混合控制模型，以便方便地部署四轮车无人机（Q-UAV）的控制器。该混合控制模型还提供了一种实时胶囊图案，它允许设计的元件可在垂直起飞和着陆（VTOL）类型的各种多电机UVS的新应用中可自定义和可重复使用。 Q-UAV Dynamics和Control架构与MDA / MBSE专业化组合如下：计算独立模型（CIM）是通过将用案例模型与UKF算法和混合自动机一起指定来集中收集控制要求来定义。然后，通过专门使用实时UML / SYSML的功能来设计平台独立模型（PIM），以获取主控制胶囊，端口和协议以及其动态演进。随后将详细PIM通过开源平台转换为PSM，以便快速实现和部署Q-UAV控制器。纸张以试飞和部署结果结束，可以用于低成本Q-UAV的轨迹跟踪控制器的良好可行性。在这种情况下，Q-UAV控制器是用openModelicatool的仿真模型实现的。所获得的仿真结果允许定义主控制元素及其属性，并基于C ++语言在ThearDuinoEn环境中构建实现库，以便在TheatMega32-U2Andstm32 Cortex-M4MicroControllers中快速执行实现模型。

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  • 来源
    《International journal of aerospace engineering》 |2020年第2期|8862864.1-8862864.17|共17页
  • 作者

    Van Hien Ngo; Truong Van-Thuan; Bui Ngoc-Tam;

  • 作者单位

    Hanoi Univ Sci & Technol Sch Transportat Engn Hanoi 10000 Vietnam;

    Hanoi Univ Sci & Technol Sch Transportat Engn Hanoi 10000 Vietnam;

    Hanoi Univ Sci & Technol Sch Mech Engn Hanoi 10000 Vietnam|Shibaura Inst Technol Coll Syst Engn & Sci Tokyo 1358548 Japan;

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