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The purpose of this paper is to develop a real-time simulation environment for the validation of controller for an autonomous small-scale helicopter.
The real-time simulation platform is developed based on the nonlinear model of a series of small-scale helicopters. Dynamics of small-scale helicopter is analyzed through simulation. The controller is designed based on the extracted linear model.
The model-based linear controller can be effectively designed and tested using real-time simulation platform. The hover controller is demonstrated to be robust against wind disturbance.
To use the real-time simulation environment to test and validate controllers for small-scale helicopters, basic helicopter parameters need to be measured, calculated or estimated.
The real-time simulation environment can be used generically to test and validate controllers for small-scale helicopters.
The paper presents the design and development of a low-cost hardware in the loop simulation environment using xPC target critical for validating controllers for small-scale helicopters.
Real-time hardware simulation of a small-scale helicopter dynamics
Aircraft Engineering and Aerospace Technology ; 82 , 6 ; 360-371
2010-10-19
12 pages
Article (Journal)
Electronic Resource
English
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