Hardware-in-the-loop simulation environment for testing of tilt-rotor UAV's control strategies
Arthur V.Lara1; Iuro B. P. Nascimento1; Janier Arias-Garcia1; Leandro Buss Becker2; Guilherme V. Raffo1
1 Universidade Federal de Minas Gerais; 2 Universidade Federal de Santa Catarina
Baixar PDF doi:10.20906/CPS/CBA2018-0758
Resumo
This paper presents a hardware-in-the-loop simulation environment for testing of control strategies for Unmanned Aerial Vehicles in Tilt-rotor configuration. This proposal consists of a distributed system composed by a general purpose computer, that runs the Gazebo simulator, and a stm32f4 discovery development board, that executes the control strategy. For instrumentation and reference data transfer it was developed a serial communication protocol that includes an error-detecting method for serial transmissions, which uses a checksum for accidental change detection in data transfer chains. Besides, it was created a dynamic library in order to provide an external channel with Gazebo Simulator to allow interaction between simulation and embedded system. Also, it was designed an trajectory creator program to select the reference points to be reached by the control strategy, being either automatically or manually via joystick. Finally, the system is validated through simulation of a Tilt-rotor UAV being controlled by a DLQR strategy.
Palavras-chave: Tilt-rotor UAV; Hardware-in-the-loop; Embedded systems; Robotic simulator; Control systems