Time-delay compensation for networked hardware-in-the-loop simulation of a flight control system using polynomial prediction

Hardware-In-the-Loop (HIL) can be used for testing of electronical controller of a closed-loop control system within computer-based real-time simulation of the rest of the system. In this paper, The Pitch Attitude Hold (PAH) mode controller of an unmanned aircraft vehicle is tested using networked hardware in the loop simulation. A computer is used for real-time simulation of flight and a PC/104 hardware is employed for controller implementation. The controller and the simulator are connected using network by UDP protocol. The hardware in the loop simulation can achieve unstable behavior or inaccurate results due to time-delay of network connection. Therefore, a polynomial-based predictor is designed for time-delay compensation of network connection. The consistency of the experimental real-time simulation and off-line simulation shows the applicability of the presented method for mitigating the effect of time-delay in the hardware in the loop simulation. Also, uncertainty of the model raised from stability and control derivatives are investigated. Also, uncertainty of the model raised from stability and control derivatives are investigated. Also, uncertainty of the model raised from stability and control derivatives are investigated.