Le Système "Hardware in the Loop" - Rapport Préliminaire No. 2


  1. Manaï, M.
Corporate Authors
Defence R&D Canada - Valcartier, Valcartier QUE (CAN);Laval Univ, Quebec QUE (CAN) Departement de Genie Electrique et de Genie Informatique
For this project, a UAV (unmanned aerial vehicle) was purchased with an autopilot to control it. The autopilot is composed of PID with gains scheduling. The main purpose of this project is to improve the autopilot performances. Therefore, this project aims to replace some of the PID with nonlinear control, based essentially on a physical model. The first phase of the project consists in modeling and identifying the UAV. To do so, a nonlinear six-degree-of-freedom aircraft model available in a specialized Simulink library, the Aerosym library from Unmanned Dynamics, is used. To study the behavior of the aircraft when controlled by some nonlinear algorithms, theses algorithms will be implemented in an autopilot connected to a computer running the aircraft model. So, a hardware-in-the-loop system has been developed to make some tests in the future phases of this project. This system is described here. More precisely it is explained how the autopilot command signals are converted under the form of the model inputs and how the data coming from the aircraft model are converted under the same form as the data transmitted by the sensors on the aircraft.

Il y a un résumé en français ici.

Report Number
DRDC-VALCARTIER-CR-2004-316 — Contractor Report
Date of publication
01 Dec 2004
Number of Pages

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