Abstract
In this paper, a new Computer Aided Design (CAD) methodology for the Processor-In-the-Loop (PIL) co-simulation and Rapid Control Prototyping (RCP) of a Quadrotor Vertical Take-Off and Landing (VTOL) type of Unmanned Arial Vehicle (UAV) is proposed and successfully implemented around an embedded NI myRIO-1900 target and a host PC. The developed software (SW) and hardware (HW) prototyping platform is based on the Control Design and Simulation (CDSim) module of LabVIEW environment and an established Network Streams data communication protocol. A dynamical model of the Quadrotor UAV, which incorporates the dynamics of vertical and landing flights and aerodynamic forces, is obtained using the Newton-Euler formalism. PID and Model Predictive Control (MPC) approaches are chosen as examples for experiment prototyping. These control laws, as well as the dynamical model of the Quad, are implemented and deployed as separate LabVIEW Virtual Instruments (VI) on the myRIO-1900 target and the host PC, respectively. Several demonstrative co-simulation results, obtained for a 3D LabVIEW emulator of the Quadrotor, are presented and discussed in order to improve the effectiveness of the proposed Model Based Design (MBD) prototyping methodology
Highlights
The Unmanned Aerial Vehicles (UAV), the Quadrotors ones [1]-[5], are flying robots without pilot which are able to conduct missions in autonomous or halfautonomous modes, in hostile and disturbed environments
Well-suitable for complex processing and real-time computing, this National Instruments (NI) portable and Reconfigurable Inputs and Outputs (RIO) target is associated to a host PC with LabVIEW Control Design and Simulation (CDSim), myRIO 2015 and Robotics environments
We develop later the LabVIEW diagram for the Model Predictive (MPC) approach
Summary
The Unmanned Aerial Vehicles (UAV), the Quadrotors ones [1]-[5], are flying robots without pilot which are able to conduct missions in autonomous or halfautonomous modes, in hostile and disturbed environments. Sophisticated and embedded SW/HW solutions for this design stage are usually needed and a powerful platform for achieving both the rapid prototyping and final real-world implementation is very required This problem can be efficiently handled thanks to the MDB and CAD concepts, especially with the related Processor-In-the-Loop (PIL) and/or Hardware-In-the-Loop (HIL) co-simulation methods. This paper deals with the design and development of a new MBD solution www.ijacsa.thesai.org (IJACSA) International Journal of Advanced Computer Science and Applications, Vol 7, No 6, 2016 for the PIL co-simulation and rapid control prototyping of a Quadrotor Such a CAD methodology is built and successfully implemented around an embedded NI myRIO-1900 platform and a host PC.
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