The Development of a Hardware-in-the-Loop Simulation Platform with Servo and Sensor Modules using Graphical Language LabVIEW

• Main Authors: Chu, Chun-Yen, 朱俊彥
• Other Authors: 孫允平
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/63317034182870187084

碩士 === 正修科技大學 === 機電工程研究所 === 96 === An unmanned aerial vehicle (UAV) with a reliable on-board autopilot system is competent to execute out-of-sight flight missions that brings forth many innovative applications in scientific, civilian, and military fields. To design and test the autopilot system practically and safely is the key of UAVs research. Hardware-in-the-Loop Simulation (HILS) has been proved in many cases tobe an effective solution to assess prototype system’s performance. In this thesis a real-time HILS platform for prototype autopilot system of UAV is set up. The graphical language LabVIEW is used to be the software development platform for design, control, and test of the autopilot system. The details of design and assembly of servo and sensor modules are described. The transfer functions of servo and sensor modules are also derived from the Bode plots through steady state responses to sinsoidal inputs test. The HILS experimental results indicate that the presence of sensor module has a crucial influence on closed-loop response of UAV autopilot system. On condition that the mathematical models of servo or sensor are unknown, applying Ziegler-Nichols tuning in HILS experiments is an effective method to determine an appropriate PID (proportional-integral-derivative) control gain. The real-time HILS platform including servo and sensor modules is of great value in design and test of UAV autopilot.