Laboratory system for designing and testing control algorithms for small UAV objects

摘要

Paper presents laboratory system for designing and testing control algorithms for small UAV objects. Chosen object is a small size helicopter model. Helicopters are highly non-linear objects what makes them very difficult for automatic controlling. Presented platform gives a safe way for design and testing algorithms on real objects, which normally is very risky. Electronic part of platform collect measurements from encoders located in the construction of the laboratory system and sends those values to a PC. Computer application calculate angles and velocities of helicopter model mounted to the platform. Control algorithm is implemented as module of computer application and can be easily replaced by another controller implementation. Paper presents also tests of a designed platform with control algorithm, which enables stable hovering of the flying model.