Designing 3-DOF Hardware-In-The-Loop Test Platform Controlling Multirotor Vehicles

摘要

Main idea of this paper is the development of Hardware-in-the-Loop test platform in order to flight mechanical modeling and better stabilization of multirotor vehicles via different feedback control structures, including PID controllers. First, nonlinear mathematical model of the quadrotor platform is built and validated via Matlab/Simulink based simulation environment.Then, Hardware-in-the-Loop (HIL) test scenario is developed to analyze and tune controller parameters with the help of in-house designed testbed mechanism. Next step is observing the quadrotor attitude maneuvers via embedded hardware over the gyroscopic gimballed testbed. The HIL testbed enables us validate and calibrate model and control parameters within real-time environment including inertial and mechanical sensors for multirotor systems. In this study, the particular platform is IRIS cross-type quadrotor vehicle PID based control for stable hover flight.