14.Design of hardware - in-the- loop simulation system forflight control of quadrotor UAV

Abstract:

As the core part of the four-rotor UAV，the flight control system can accurately control the attitude of the UAV，which playsa key role in the development process of the four-rotor UAV． This article was based on a combined approach of LabVIEW，Simulink，VeriStand，and Mission Planner to construct a real-time simulation platform． This platform utilized Simulink to model the flight controldynamics and kinematics，while VeriStand enabled the invocation of the simulation model． Additionally，LabVIEW was employed forreal-time display and modification of model parameters． Mission Planner，as a real-time operating system，was utilized to ensure the re-al-time execution of the simulation model，with the goal of achieving rapid simulation design，reducing development cycles，and mini-mizing human-induced influences． The semi-physical simulation experiments of the flight control system demonstrate that the simulationplatform works reliably，has good real-time performance，and enhances the development efficiency and reliability of semi-physical simu-lation experiments．

Keywords: quadrotor UAV; flight control system; semi-physical simulation; PWM signal acquisition