DEFINITION AND MODELLING OF THE COMMUNICATION ARCHITECTURE FOR THE CONTROL OF A HELICOPTER-DRONE

This paper presents a laboratory mini-helicopter model and its implementation and simulation as a networked control system. A model of the mini-helicopter, together with the choice of a communication architecture, is proposed. Simulations are effected to study the mentioned system as a networked control system in consideration of network delays, etc. Proposed simulations are achieved thanks to the TrueTime framework which is a Matlab / Simulink based toolbox. This toolbox provides several types of networks which are briefly described in the paper. The mentioned system is simulated by using two types of networks – CAN and Ethernet wire network. Results show differences in quantitative deviations among simulations of the mini-helicopter as system without network and with network.