Integration of X-Plane as hardware-in-the-loop for the validation of control schemes in quadrotor UAVs
The highly non-linear dynamics and flight properties of quadrotor-type Unmanned Aerial Vehicles (UAVs) arouse the interest of researchers in various fields. In particular, in the area of automatic control, work is being done on the development of new control schemes, many of which do not reach the i...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/11406 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/11406 |
| Access Level: | acceso abierto |
| Palabra clave: | Hardware-In-the-Loop Simulink Unmanned Aerial Vehicle Quadrotor X-Plane Hardware en Bucle (HIL) Vehículo Áereo no Tripulado Cuadricóptero |
| Sumario: | The highly non-linear dynamics and flight properties of quadrotor-type Unmanned Aerial Vehicles (UAVs) arouse the interest of researchers in various fields. In particular, in the area of automatic control, work is being done on the development of new control schemes, many of which do not reach the implementation stage. In this sense, the Hardware-In-the-Loop (HIL) is attractive for the development and testing of control systems. Therefore, this paper shows the use of MATLAB/Simulink and X-Plane as co-simulation tools to analyze the behavior and control of a quadrotor. A PID-type feedforward control is used to perform steady-state flight maneuvers in the presence of different wind speeds. Control scheme feedback data is obtained from X-Plane via User Datagram Protocol (UDP)-based communication and is sent to Simulink for use in calculating the control schemes control actions, then the control actions go through a transformation matrix that converts these actions into angular velocities of the rotors (information sent to X-Plane). Finally, the results of the control scheme are reported for different wind speeds, with 50 knots (kt) being the maximum speed that the proposed controller can compensate. |
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