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Proceedings Paper

Using virtual instruments to develop an actuator-based hardware-in-the-loop simulation test-bed for autopilot of unmanned aerial vehicle
Author(s): Yun-Ping Sun; Jiun-Yan Ju; Yen-Chu Liang
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Paper Abstract

Since the unmanned aerial vehicles (UAVs) bring forth many innovative applications in scientific, civilian, and military fields, the development of UAVs is rapidly growing every year. The on-board autopilot that reliably performs attitude and guidance control is a vital part for out-of-sight flights. However, the control law in autopilot is designed according to a simplified plant model in which the dynamics of real hardware are usually not taken into consideration. It is a necessity to develop a test-bed including real servos to make real-time control experiments for prototype autopilots, so called hardware-in-the-loop (HIL) simulation. In this paper on the basis of the graphical application software LabVIEW, the real-time HIL simulation system is realized efficiently by the virtual instrumentation approach. The proportional-integral-derivative (PID) controller in autopilot for the pitch angle control loop is experimentally determined by the classical Ziegler-Nichols tuning rule and exhibits good transient and steady-state response in real-time HIL simulation. From the results the differences between numerical simulation and real-time HIL simulation are also clearly presented. The effectiveness of HIL simulation for UAV autopilot design is definitely confirmed

Paper Details

Date Published: 31 December 2008
PDF: 6 pages
Proc. SPIE 7130, Fourth International Symposium on Precision Mechanical Measurements, 71301J (31 December 2008); doi: 10.1117/12.819593
Show Author Affiliations
Yun-Ping Sun, Cheng Shiu Univ. (Taiwan)
Jiun-Yan Ju, Cheng Shiu Univ. (Taiwan)
Yen-Chu Liang, Chinese Air Force Academy (Taiwan)

Published in SPIE Proceedings Vol. 7130:
Fourth International Symposium on Precision Mechanical Measurements
Yetai Fei; Kuang-Chao Fan; Rongsheng Lu, Editor(s)

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