DEVELOPMENT AND HARDWARE IN-THE-LOOP IMPLEMENTATION OF TOTAL ENERGY CONTROL SYSTEM FOR ALTITUDE CONTROL OF A SCALED DOWN (1:2) MODEL OF ITB HALE UAV

• Main Author: Ariyanto, Jordy
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/71412
• Institution: Institut Teknologi Bandung

The development for High Altitude Long Endurance (HALE) UAV has been continuously done for several types of mission i.e., Surveillance, telecommunication, and military. In order to support the flight mission, it requires flight control system, and one of the flight control systems needed is altitude hold control system. Based on the vehicle requirements the altitude regulator control system was designed using total energy principle or so called Total Energy Control System (TECS). TECS have 2 parameters called the specific energy distribution driven by elevator and total energy distribution driven by throttle. TECS parameters developed more by merging the dynamic equations into vehicle’s linear model using the augmented state space approach, thus the TECS parameter can be regulated using close loop gain that will be designed using optimal control approach or Linear Quadratic Regulator (LQR). The control system simulated on close loop simulation constructed based on Software In-The-Loop Simulation (SILS) and Hardware In-The-Loop Simulation (HILS) . At this stage, HILS was used as initial step for HALE UAV implementation feasibility study. HILS simulation succeeds with the implementation of control system into hardware that was simulated numerically with mathematical model of HALE UAV. Result shows that the development of TECS scheme have the potential to implemented on HALE UAV