Real-time hardware simulation of a small-scale helicopter dynamics

Author： Budiyono Agus Putro Idris E. Yoon K. Raharja Gilar B. Kim G.B.

ISSN： 0002-2667

Source： Aircraft Engineering, Vol.82, Iss.6, 2010-10, pp. : 360-371

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Abstract

Purpose ‐ The purpose of this paper is to develop a real-time simulation environment for the validation of controller for an autonomous small-scale helicopter. Design/methodology/approach ‐ The real-time simulation platform is developed based on the nonlinear model of a series of small-scale helicopters. Dynamics of small-scale helicopter is analyzed through simulation. The controller is designed based on the extracted linear model. Findings ‐ The model-based linear controller can be effectively designed and tested using real-time simulation platform. The hover controller is demonstrated to be robust against wind disturbance. Research limitations/implications ‐ To use the real-time simulation environment to test and validate controllers for small-scale helicopters, basic helicopter parameters need to be measured, calculated or estimated. Practical implications ‐ The real-time simulation environment can be used generically to test and validate controllers for small-scale helicopters. Originality/value ‐ The paper presents the design and development of a low-cost hardware in the loop simulation environment using xPC target critical for validating controllers for small-scale helicopters.