HIL simulation setup for attitude control of a quadrotor

In this paper, we describe a dSpace ds1103 based HIL (Hardware-In-The-Loop) test platform, a dynamic model derived using Lagrangian Mechanics and a PD attitude control algorithm for a quadrotor mini UAV with experimental results. The platform is mainly intended for developing different control algorithms, fine tuning control parameters in real-time, monitoring and recording all platform data for post-processing. Additionally, platform houses a modular custom built 6 DOF IMU which provides a real-time development environment for filters or data fusion algorithms to optimize navigation solution. The electrical and functional architecture, materials chosen for building mechanical structure, all devices including brushless motors, motor drive units, IMUs are explained in detail with experiences gained during manufacturing process. Attitude control up to ±20 degrees for pitch and roll, 720 degrees (two turns) for yaw and limited positional control in only z-axis (a few centimeters) for demonstration of hover is available in test platform. A detailed dynamic model which is used by several authors in literature and a simplified version for Simulink modeling is given. In the last part, the proposed classical PD control scheme and the determination of control parameters are explained.