Hardware-in-the-loop Simulation Design for Evaluation of Unmanned Aerial Vehicle Control Systems

Abstract

This paper discusses the construction and testing of hardware-in-the-loop simulations using a commercial software simulation package and a custom-designed simulation. It discusses the process of integrating an avionics computer with Unmanned Aerial Vehicle (UAV) sensors and actuators, designing and implementing linear and non-linear simulations of the aircraft, setting up the control system architecture and evaluating various control laws through the hardware-in-the-loop simulations. Extensive comparisons are made between the different versions of the simulations to ensure that every step in the piecewise development of the final simulation is correct. Several types of control systems were tested on this final simulation. However, despite their adequate tracking of reference trajectories, none are robust and mature enough to yet consider for in-flight testing. A future work section discusses options for further development of the control system and modifications to the simulations to increase their fidelity. A straightforward, detailed and logical process is provided for setting up hardware-in-the-loop simulations of small UAV systems similar to the one described here, and evaluating control system performance. Important time and cost savings from lessons learned in this process are also provided.

A flexible hardware-in-the-loop architecture for UAVs

“…In [2], [3], [4] similar HIL schemes were presented. However, only the onboard autopilots are used as hardware, and the platform dynamics, the actuation, and the Earth's physical effects are simulated.…”

Multi-Objective Optimization for Wind Estimation and Aircraft Model Identification

“…(13). This means that the aerodynamic coefficients are directly dependent on airspeed and thus, on the wind during data recollection.…”

“…In system theory, this process is known as system identification and the objective is to obtain dynamic models from observed input and output signals [3]. In particular, system identification methods have been used for flight-test evaluations [4][5][6][7][8][9][10], control analysis and design [11,12] and advanced simulation [13][14][15].…”

System Identification of NN-based Model Reference Control of RUAV during Hover

“…Thus, simulation is necessary. Basically there are two type of simulation is needed while designing UAVs systems, they are Software-In-the-Loop (SIL) [5] simulation and Hardware-In-the-Loop (HIL) simulation [4]. To utilize the SIL configuration, the un-compiled software source code, which normally runs on the onboard computer, is compiled into the simulation tool itself, allowing this software to be tested on the simulation host computer.…”