Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
UAV Control Loops Design tested in an HIL plataform
Submission Author:
Marcelo Henrique dos Santos , SP
Co-Authors:
Neusa Maria Franco Oliveira, Benedito Maciel, Marcelo Henrique dos Santos
Presenter: Marcelo Henrique dos Santos
doi://10.26678/ABCM.COBEM2017.COB17-1764
Abstract
Unmanned Aerial Vehicles (UAVs) were initially idealized to perform military applications, however the subject is gradually gaining force as the applications begin to gain notoriety not only in the academic institutions, but also in the industry and in military operations. One of the main control systems in a UAV is the autopilot system (AP). The development and validation of this kind of system requires numerous simulations, and the field tests involve risks, because the damages after the fall of the airplane are often irreversible. In the scenario presented, this article has the objective to develop an embedded system for the autonomous control of a small fixed wing unmanned aerial vehicle. For this work the Piper J-Cub 1/4 scale aircraft was used and its non-linear mathematical model that describes the equations of motion was simulated in a computational environment using the MATrix LABtory software (MATLAB®). The flight control system proposed in this article has the objective of allowing an autonomous flight and was designed using classic control techniques. For the navigation system the direction cosine matrix method was used to determine the attitude of the aircraft. The Line of Sight (LOS) algorithm responsible for calculating the reference directional angle was implemented as the guidance system. This article also proposes the communication between the embedded AP system and the dynamics of the aircraft creating a hardware-in-the-loop to simulate a flight trajectory and the results were effective for a set of waypoints trajectory.
Keywords
Unmaned Aerial Vehicle, airspace control, Hardware-in-the-Loop
