Modular scalable system for operation and testing of UAVs
| Autor: | Andreas Klöckner, Marc Schwarzbach, Gertjan Looye, Maximilian Laiacker, Ingo Kossyk, Dominik Sommer, Konstantin Kondak |
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| Rok vydání: | 2013 |
| Předmět: |
mass 100 kg
Engineering mechanical engineering computing control law integrated design software-in-the-loop-simulations Scheduling (computing) modular scalable system Mathematical model Software mobile robots execution monitoring MATLAB computer.programming_language media_common control engineering computing Perzeption und Kognition System monitoring debugging Flugzeug-Systemdynamik Atmospheric modeling control law integrated analysis autonomous aerial vehicles mass 10 kg rotary wing UAV system monitoring solar powered high altitude platform computer debugging take-off mass media_common.quotation_subject ComputerApplications_COMPUTERSINOTHERSYSTEMS aerospace computing Hardware Modelica-models. The fixed wing UAV ELHASPA Integrated design business.industry aerospace components vehicle dynamics Hardware-in-the-loop simulation Adaptation models Modular design Matlab-Simulink-models scheduling monitoring mission software modification hardware-in-the-loop simulations Debugging Embedded system communication monitoring Solid modeling control software modification business computer Actuators |
| Zdroj: | ACC |
| DOI: | 10.1109/acc.2013.6580042 |
| Popis: | In this paper we present a system for operation and testing of different UAVs. The system allows easy development and modification of control and mission software. The system is composed of hard- and software modules with a standardized interface. We have been using the system with rotary and fixed wing UAVs with a take-off mass between 10 and 100 kg. For larger platforms the system can be used in a redundant setup. The software modules are integrated in a special real-time framework, which supports execution, scheduling, communication and system monitoring. A modular simulation and control infrastructure allows for flexible, integrated design and analysis of control laws. The code for the computational part of the modules can be generated from Matlab/Simulink-models or from Modelica-models. The system supports debugging, soft- and hardware in the loop simulations, operator training as well as real flight experiments. The main design concepts are explained at hand of our solar powered high altitude platform ELHASPA and the 10 years experience in development and operation will be summarized. |
| Databáze: | OpenAIRE |
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