О.V. Drozd – Senior Lecturer, 

Siberian Federal University (Krasnoyarsk)

E-mail: odrozd@sfu-kras.ru

S.I. Bordyugov – Student, 

Siberian Federal University (Krasnoyarsk)

E-mail: sema2-98@mail.ru

Currently, approaches for testing unmanned aerial vehicles (UAV) are actively developing with the introduction of resource-saving  technologies, which involve the on-board UAV systems carry-out testing with using simulation and hardware-in-the-loop (HIL) model ing. At all stages of UAV design, a decisive role is played by simulation and HIL stands, which ensure testing of systems in order to  assess the impact of operational factors on their characteristics. As an example, we can consider the hardware-software complex for  testing UAV mounted on the Gough–Stewart plat-form manipulator. The development and debugging of such a software and hardware 

complex itself presents a complex engineering task and can be automated by using the methodology of model-oriented design. The central element of the model-oriented design methodology is the simulation model of the developed product, in this case, the  Gough–Stewart manipulator with an actuation system, management tools for motion control and measuring physical parameters of  the tested product. The plat-form manipulator consists of the fixed base, the movable plate-shaped and six supports of variable  length, the mass of which is taken equal to zero. The orientation of the movable platform is deter-mined by the position of the grav ity center (pole) point along three coordinate axes and three successive angles of platform rotation around the pole at the yaw, roll  and pitch angles. For the moving platform, the solution of the direct problem of dynamics is considered – finding the forces devel oped by the drives of variable length supports that provide the platform motion.

The functional model of the test bench includes the module for generating a desired UAV trajectory, the UAV autopilot simulator, the  kinematic model of the platform manipulator and the sub-system calculating a current position of the moving plate-form, namely:  components of the displacement vector, moments of forces along coordinate axes and spatial orientation angles of the platform. The  developed model also allows to evaluate the functioning parameters of proportional–integral–derivative controllers of spatial orienta

tion angles, as well as to automatically obtain pro-gram code for implementing both automation of testing and UAV control. Also, the  presented functional model can function in conjunction with the user interface of the bench and can be used to evaluate the parame ters of the test bench functioning.

Further development of the functional model is planned in terms of detailing the description of the platform manipulator kinematics  and dynamics, in particular, taking into account inertia and weight of the movable supports, forces and friction moments in kinematic  pairs, the influence of the payload. It is also planned to introduce algorithms for preliminary calculation of the UAV route path of  flight and the formation of the desired trajectory of the movable plate-shaped manipulator in accordance with a given route.

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