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http://dx.doi.org/10.5139/JKSAS.2019.47.5.326

Establishment of Real-time HILS Environment for Small UAV Using 6 D.O.F Motion Table  

Cha, Hyungkyu (Department of Aerospace Engineering, Pusan National University)
Jeong, Jinseok (Department of Aerospace Engineering, Pusan National University)
Shi, Hayoung (Department of Aerospace Engineering, Pusan National University)
Yoon, Junseok (Department of Aerospace Engineering, Pusan National University)
Kang, Beomsoo (Department of Aerospace Engineering, Pusan National University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.47, no.5, 2019 , pp. 326-334 More about this Journal
Abstract
Development of Small UAV using HILS (Hardware In the Loop Simulation) can be effectively used to improve the reliability of UAV (Unmanned Aerial Vehicle) while reducing cost and time. It is also possible to reduce the damage to people or property by simulating the malfunction of the Flight Control Computer (FCC) that may occur during the actual flight. For applying such HILS, a real-time simulation environment capable of providing an environment similar to an actual flight condition is required. In this paper, we constructed a real - time HILS environment for Small UAV using 6 D.O.F motion table. In order to link the 6 D.O.F motion table developed in the previous research with the HILS environment in real time, the motion algorithm was changed from the position control method to the velocity control method. Also, we implemented modeling of inverse kinematics model for command transmission in Matlab $Simulink^{(R)}$ and verified the action of motion table according to the simulation model.
Keywords
HILS, Motion Table; Stewart Platform; Real-time; Small UAV; Inverse Kinematics; FCC;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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