Dynamic Modeling, Control System Design and MIL–HIL Tests of an Unmanned Rotorcraft Using Novel Low-Cost Flight Control System

Khalesi, Mohammad Hossein; Salarieh, Hassan; Foumani, Mahmoud Saadat

doi:10.1007/s40997-019-00288-x

Cited by 9 publications

(7 citation statements)

References 18 publications

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“…First, approaches are discussed that consider the model artifacts as input and convert the model into code for execution. For example, this is the basis for the simulation/execution of Matlab/Simulink models, which are therefore converted into C code [14] [6]. The same applies to the approach of Anlauf et al, which is based on so-called Extensible Abstract State Machines [1].…”

Section: Related Workmentioning

confidence: 99%

Abstract Test Execution for Early Testing Activities in Model-Driven Scenarios

Pröll

Hagemann

Bauer

2021

Communications in Computer and Information Science

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The continuous improvement of the performance of computing units makes it possible to cope with increasingly complex tasks. This results in more complex software systems. However, the development of such highly complex systems is difficult to achieve using traditional approaches. Concepts like model-driven software development can weaken this problem in these constructive phases. However, new challenges arise for the testing of development artifacts. In order to be able to perform a real shift left of verification and validation tasks towards early phases of development, we present a semi-formal approach that enables users to execute test cases against the system under development (SUD) on the model-level. Grounded on an Integrated Model Basis which is created and maintained during development, test reports are automatically derived. This opens up a wide range of possibilities for early and targeted troubleshooting.

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Section: Related Workmentioning

confidence: 99%

Abstract Test Execution for Early Testing Activities in Model-Driven Scenarios

Pröll

Hagemann

Bauer

2021

Communications in Computer and Information Science

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“…Today, MiL simulations are often part of the design process of embedded systems. In terms of tooling, these simulations are mostly created with Simulink (Khalesi et al, 2019) or MatLab (Gambarotta et al, 2019), two well known engineering tools. In the context of testing, the mentioned simulation approaches show a black box characteristic.…”

Section: Related Workmentioning

confidence: 99%

Towards Abstract Test Execution in Early Stages of Model-driven Software Development

Hagemann

Pröll

Bauer

2020

Proceedings of the 8th International Conference on Model-Driven Engineering and Software Development

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Over the last decades, systems immanent complexity has significantly increased. In order to cope with the emerging challenges during the development of such systems, modeling approaches become an indispensable part. While many process steps are applicable to the model-level, there are no sufficient realizations for test execution yet. As a result, we present a semi-formal approach enabling developers to perform abstract test execution straight on the modeled artifacts to support the overarching objective of a shift left of verification and validation tasks. Our concept challenges an abstract test case (derived from test model) against a system model utilizing an integrated set of domain-specific models, i.e. the omni model. Driven by an optimistic dataflow analysis based on a combined view of an abstract test case and its triggered system behavior, possible test verdicts are assigned. Based on a prototypical implementation of the concept, the proof of concept is demonstrated and further on put in the context of related research.

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“…The proposed platform is designed and constructed such that it can be used for free flight experiments in the next steps of investigations. 32 Some of the most important aspects of using an RPi as the main flight processor can be pointed out as below:…”

Section: Test Equipmentmentioning

confidence: 99%

“…The schematic hardware architecture of the complete flight control system is shown in Figure 3. More details about this flight control system design and implementation can be found in Khalesi et al 32 This equipment is finally packed in a three-dimensional (3D) printed box and attached to the helicopter body. The RPi3 software is completely implemented in Simulink environment and can be run as stand-alone or synchronous system.…”

Section: Test Equipmentmentioning

confidence: 99%

“…The testbed used in this research is similar to the test bench used in Lai. 39 More details about this equipment are presented in Khalesi et al 32 The test stand consists of a gimbal mechanism attaching the helicopter, a parallelogram mechanism (for pure vertical motion), base section (rotation about center), and a counterbalance weight (Figure 4). The rotation axes should be aligned with helicopter’s center of gravity (CG) so that the rotations be pure.…”

Section: Test Equipmentmentioning

confidence: 99%

See 1 more Smart Citation

System identification and robust attitude control of an unmanned helicopter using novel low-cost flight control system

Khalesi

Salarieh

Foumani

2019

Proceedings of the Institution of Mechanical Engineers, Part I:

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In recent years, unmanned aerial systems have attracted great attention due to the electronic systems technology advancements. Among these vehicles, unmanned helicopters are more important because of their special abilities and superior performance. The complex nonlinear dynamic system (caused by main rotor flapping dynamics coupled with the rigid body rotational motion) and considerable effects of ambient disturbance make their utilization hard in actual missions. Attitude dynamics have the main role in helicopter stabilization, so implementing proper control system for attitude is an important issue for unmanned helicopter hovering and trajectory tracking performance. Besides this, experimental utilization of low-cost flight control system for unmanned helicopters is still a challenging task. In this article, dynamic modeling, system identification, and robust control system implementation of roll and pitch dynamics of an unmanned helicopter is performed. A TRex-600E radio-controlled helicopter is equipped with a novel low-cost flight control system designed and constructed based on Raspberry Pi Linux-based microcomputer. Using Raspberry Pi makes this platform simpler to utilize and more time and cost-effective than similar platforms used before. The experiments are performed on a 5-degree-of-freedom testbed. The robust control system is designed based on [Formula: see text] method and is evaluated in real flight tests. The experiment results show that the proposed platform has the ability to successfully control the roll and pitch dynamics of the unmanned helicopter.

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Dynamic Modeling, Control System Design and MIL–HIL Tests of an Unmanned Rotorcraft Using Novel Low-Cost Flight Control System

Cited by 9 publications

References 18 publications

Abstract Test Execution for Early Testing Activities in Model-Driven Scenarios

Abstract Test Execution for Early Testing Activities in Model-Driven Scenarios

Towards Abstract Test Execution in Early Stages of Model-driven Software Development

System identification and robust attitude control of an unmanned helicopter using novel low-cost flight control system

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