The emergence of distributed technologies as a reliable infrastructure for real-time control is enabling a new generation of distributed plug-and-play control architectures and methodologies increasingly common are control systems that pass real-time data across traditional system boundaries to utilize distributed remote sensing, processing, and actuation. The GPS data and sensor real-time data in the HILS is fed into the closed loop of the control system which helps to tune and test the control system to directly fit into the UAV on real-time. Hardware in loop technique is a real time simulation where the input and output signals of the simulator show the same time dependent values as the real process. The flight operation and guidance for navigation can be developed early in the program to support the testing without any human intervention. This includes developing flight test prototype and test articles early in the system life cycle to gain real experience and determine the real function such that the ultimate design leads to the correct development of the product. The rapid development in digital technology and Real-time embedded control system has been widely applied in various industrial fields. In the development of unmanned vehicle initially it was much focused on military application to civilian application which has many issues in precise design and development cost. The reliability of embedded computer systems can be difficult to analyze for several reason. The AP is resilient against jamming and features precise dead-reckoning navigation in absence of a GNSS signal.This paper presents the design, simulation and real-time implementation of a control system for an autonomous mini-helicopter using QNX operating system with PC104 embedded board. The flight control algorithm relies on Total Energy Control System (TECS) for improved reliability and response to malfunction including automatic landing with engine failure, auto-rotation for helicopters and parachute deployment. The AP is compatible with almost any vehicle configuration (VTOLs, USVs, UGVs, etc.), including non-traditional aircraft concepts. Specific payloads/sensors can be integrated by scripting custom protocols through onboard Virtual Machines (VMs). The redundant layering provides basic functionality while ground control software is multi-platform and functions across multiple workstations in a both a wide or local area network configuration. Thanks to the AP’s distributed architecture, the system can be used in a wide variety of vehicles ranging from small quadcopter to full size converted piloted aircraft. With nearly all payloads or ready-made third-party modules, entire systems can be connected to the AP. Additionally, there are no restrictions on the number of same-type modules connected to one system, enabling multiple redundancy on all levels. This decentralized configuration helps to manage central processor loading by distributing routine management tasks across all system components. Each component of the system has a dedicated microcontroller providing data and communication with other components within the CAN bus. All diagnostics, flight mission planning and remote control can be achieved wirelessly.Ī notable feature of the AP is its distributed architecture. All flight systems including take-off, landing, navigation and mission execution can be instigated with a single keystroke. The Automatic Control System (AP) provides the hardware and vehicle control abstraction layer for the host platform enabling fully autonomous operation.
0 Comments
Leave a Reply. |