This paper provides a detailed discussion of the design problem and implementation of a control system for a helicopter model. Modelling the multi-body dynamics of a helicopter in six degrees of freedom is a critical step in designing a controller for the system. Rapid prototyping and hardware-in-the-loop simulation techniques are used to test the design before final implementation. Although this paper focuses on a helicopter example, the techniques described here are directly applicable to the modelling, design, and testing of automotive control systems. Modern control system development relies heavily on modelling, simulation, and real-time testing for both the control system and the plant. Model-based design has proven to be an effective framework for these development activities, especially for designing the control system model and reusing that model in multiple activities. However, plant modelling has historically not had as much success, despite the need for accurate plant models in order to develop high quality controllers. The difficulties in modelling the plant are many and far-reaching, historically leading to the development of specialized six degrees-of-freedom (6DOF) C and FORTRAN simulations that model specific aspects of the physical system. Although these simulations work well for the particular application for which they were developed, it is often difficult to apply the models to new plants, make design changes outside the scope of the original implementation, or reuse the models in new development tasks such as hardware-in-the-loop (HIL) simulation. Recent advances in off-the-shelf plant modelling software now provide a single simulation environment supporting the construction of high-fidelity plant and controller models. These models can be reused by converting them into compact, efficient C code for embedded controller implementation and hardware-in-the loop testing applications. This paper focuses on recent advances in plant modelling with an emphasis on its use in real-time HIL testing for aerospace applications.


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    Titel :

    Single modeling environment for constructing high-fidelity plant and controller models


    Weitere Titelangaben:

    Modellierung der Mehrkörperdynamik eines Helikopters zum Entwurf einer Helikopterregelung


    Beteiligte:
    Ledin, Jim (Autor:in) / Dickens, Mike (Autor:in) / Sharp, Jay (Autor:in)


    Erscheinungsdatum :

    2004


    Format / Umfang :

    15 Seiten, 8 Bilder, 4 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





    AIAA-2003-5752 Single Modeling Environment for Constructing High-Fidelity Plant and Controller Models

    Dickens, M. / Ledin, J. / Sharp, J. et al. | British Library Conference Proceedings | 2003


    Low Cost, High Fidelity Flight Simulation Environment

    Tremblay, R. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 1996