Model Predictive Control in Hardware in the Loop Simulation for the OnBoard Attitude Determination Control System

Herma Yudhi Irwanto; Purnomo Yusgiantoro; Zainal Abidin Sahabuddin; Romie O. Bura; Endro Artono; Arif Nur Hakim; Ratno Nuryadi; Rika Andiarti; Lilis Mariani

doi:10.18196/jrc.v5i2.21613

Authors

Herma Yudhi Irwanto National Research and Innovation Agency of Indonesia http://orcid.org/0000-0001-6099-9715
Purnomo Yusgiantoro Defense University of Republic Indonesia
Zainal Abidin Sahabuddin Defense University of Republic Indonesia
Romie O. Bura Defense University of Republic Indonesia
Endro Artono National Research and Innovation Agency of Indonesia
Arif Nur Hakim National Research and Innovation Agency of Indonesia
Ratno Nuryadi National Research and Innovation Agency of Indonesia
Rika Andiarti National Research and Innovation Agency of Indonesia
Lilis Mariani National Research and Innovation Agency of Indonesia

DOI:

https://doi.org/10.18196/jrc.v5i2.21613

Keywords:

Hardware in the Loop Simulation, Model Predictive Control, OnBoard Attitude Determination Control System.

Abstract

Rocket flight tests invariably serve a purpose, one of which involves area monitoring or aerial photography. Consequently, the rocket necessitates the installation of a camera that remains consistently oriented toward the Earth's surface throughout its trajectory. Thus, ensuring the rocket's stability and preventing any rotation becomes imperative. To achieve this, the Onboard Attitude Determination Control System (OADCS) was researched and developed, fully controlled by NI myRIO with Labview as the programming language, ensures the rocket's attitude control and maintains a rolling angle of 0 degrees during flight. The MyRIO oversees the retrieval of attitude and position data from the X-Plane flight simulator, offering feedback through actuator control. The development of the OADCS proceeded incrementally through stages utilizing the Software in the Loop Simulation (SILS) and Hardware in the Loop Simulation (HILS) techniques, to ensure the verification of the system's functionality before its application to the rocket for real flight testing. In the OADCS control scheme, Model Predictive Control (MPC) is chosen, and it is compared with a PID controller to serve as a benchmark for processing speed. Because the rocket's flight time is short and its speeds of up to Mach 4. The simulation results indicate that MPC can halt the rocket's rotation 12 times more rapidly than PID control. Additionally, the MPC's ability to maintain a zero-degree rotation can persist throughout the rocket's flight time. Employing SILS and HILS enhances the OADCS rocket development process by incorporating MPC, which holds promise for application in real rockets.

Author Biography

Herma Yudhi Irwanto, National Research and Innovation Agency of Indonesia

Research Center of Rocket Technology, Organization Research of Aeronautics and Space

References

S. Trowitzsch, E. Artono, H. Gantina, W. Pasadena, R. Sunarya, L. Mariani, “An atmospheric sensor payload for the Indonesian RX-320 sounding rocket,” in Proceedings of the International Astronautical Congress, 2018.

G. Tan et al., “Experimental Investigation into Closed-Loop Control for HTPB-Based Hybrid Rocket Motors,” Aerospace, vol. 10, no. 5, 2023.

A. I. Torres, “Reusable Rockets and the Environment,” UC Merced Undergraduate Research Journal, vol. 12, no. 2, 2020.

A. Fedaravičius, S. Kilikevičius, A. Survila, and S. Račkauskas, “Short range rocket-target: research, development and implementation,” Aircraft Engineering and Aerospace Technology, vol. 91, no. 7, 2019.

F. M. Villanueva, “Sounding Rocket Development Program for Peru,” in IEEE Aerospace Conference Proceedings, p. 1–9, 2018.

Y. Yun, J. Seo, K. Park, J. Huh, J. Lim, and S. Kwon, “Integration validation of key components for small sounding rockets,” Aerospace Science and Technology, vol. 100, p. 105823 2020.

A. Okninski, “Multidisciplinary optimisation of single-stage sounding rockets using solid propulsion,” Aerospace Science and Technology, vol. 71, 2017.

T. Zhang, X. Zhao, R. Hu, and W. Fu, “A method for fault diagnosis of power system of carrier rocket engine based on linear-quadratic receding time-domain algorithm,” Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, vol. 236, no. 4, 2022.

D. C. Walther and J. Ahn, “Advances and challenges in the development of power-generation systems at small scales,” in Progress in Energy and Combustion Science, vol. 37, no. 5, 2011.

M. Lin, J. Zhang, L. Xu, W. Zhu, and N. Ren, “Development of Large Capacity FM Telemetry System for Long March 5 Launch Vehicle,” Journal of Deep Space Exploration, vol. 8, no. 4, 2021.

A. T. Nugraha and D. Priyambodo, “Development of Rocket Telemetry in Chamber Gas Pressure Monitoring with the MPXV7002DP Gas Pressure Sensor,” Journal of Electronics, Electromedical Engineering, and Medical Informatics, vol. 2, no. 3, 2020.

A. Mohammed, W. A. G. Al-Tumah, and R. Malallah, “Design of Wraparound Microstrip Antenna using the Method of Moment,” Open Journal of Science and Technology, vol. 3, no. 3, 2020.

N. T. Markad, R. D. Kanphade, and D. G. Wakade, “Design of Cavity Model Microstrip Patch Antenna,” Computer Engineering and Intelligent Systems, vol. 6, no. 4, 2015.

A. Mohammed, A. Wa'il, and R. Malallah, “Design of Wraparound Microstrip Antenna using the Method of Moment,” Open Journal of Science and Technology, vol. 3, no. 3, pp. 266-273, 2020.

A. Vennitti, T. Schmiel, C. Bach, and M. Tajmar, “Health Monitoring of Reuseable Rockets: Basics for Sensor Selection,” Aerotecnica Missili & Spazio, vol. 101, no. 3, 2022.

J. J. Wu, X. Zhu, Y. Q. Cheng, and M. Y. Cui, “Research Progress of Intelligent Health Monitoring Technology for Liquid-Propellant Rocket Engines,” in Tuijin Jishu/Journal of Propulsion Technology, vol. 43, no. 1, 2022.

W. Yin, X. Qu, Z. Wu, D. Gao, and Z. Lei, “Design of the Structural Health Monitoring Sensor System for the Rocket Tank,” Yadian Yu Shengguang/Piezoelectrics and Acoustooptics, vol. 39, no. 1, 2017.

G. Fox et al., Design and Construction of a High-Powered Rocket with a Camera Placed in the Nosecone. John Heinrichs Scholarly & Creative Activities Day, 2023.

H. Kojima, T. Okawara, and P. M. Trivailo, “Ellipse detection-based visual servo control for capturing upper-stage rocket body,” Acta Astronautica, vol. 182, 2021.

A. C. Pamungkas, A. A. Putra, P. Puspitaningayu, Y. Fransisca, and A. Widodo, “Multi-Parameter Wireless Monitoring and Telecommand of a Rocket Payload: Design and Implementation,” IOP Conference Series: Materials Science and Engineering, vol. 336, no. 1, 2018.

C. E. Constantinescu, “A reactive control system for a partially guided small sounding rocket,” MATEC Web of Conferences, vol. 304, 2019.

W. Jingyu, J. Yansheng, Z. Jinfeng, W. Yanqing, W. Yabin, and G. Siyan, “Analysis and correction method of stellar aberration for high-resolution satellites,” in Advances in the Astronautical Sciences, pp. 2347–2356, 2018.

F. Mingireanu, L. Baschir, S. Miclos, D. Savastru, and N. Jula, “Proportional and bang-bang controller for space vehicle de-tumbling using quaternion-based attitude determination,” UPB Scientific Bulletin, Series A: Applied Mathematics and Physics, vol. 82, no. 3, 2020.

W. Zhang, C. Wen, and T. Zhou, “An effective flight attitude and trajectory control scheme for sounding rocket,” in Journal of Physics: Conference Series, vol. 2472, no. 1, p. 012023, 2023.

Y. Fukushima, "Onboard 7DOF motion stage as an inertial platform for payloads on sounding rockets," 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), pp. 240-245, 2018.

Y. Fukushima, “Onboard 7DOF motion stage as an inertial platform for payloads on sounding rockets, in Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, pp. 240–245, 2018.

D. C. Shin and D. M. Lee, “Development of real-time implementation of a wind power generation system with modular multilevel converters for hardware in the loop simulation using matlab/simulink,” Electronics (Switzerland), vol. 9, no. 4, 2020.

P. Pa Aye, “Analysis on Control System Design of Plant Simulator for Hardware-In-The-Loop Simulation Using MATLAB,” International Journal of Sensors and Sensor Networks, vol. 6, no. 1, 2018.

A. Kharbouch et al., “Internet-of-Things Based Hardware-in-the-Loop Framework for Model-Predictive-Control of Smart Building Ventilation,” Sensors, vol. 22, no. 20, 2022.

Y. K. Chen, Y. C. Lee, and V. C. Koo, “Design and Implementation of Synthetic Aperture Radar (SAR) Field-Programmable Gate Array (FPGA)-Based Processor,” Applied Sciences, vol. 12, no. 4, 2022.

S. A. Bamerni and A. K. Al-Sulaifanie, “Field programmable gate arrays implementation of different standard deviation estimation techniques,” Indonesian Journal of Electrical Engineering and Computer Science, vol. 27, no. 1, 2022.

W. A. Al-Musawi, M. A. A. Al-Ibadi, and W. A. Wali, “Artificial intelligence techniques for encrypt images based on the chaotic system implemented on field-programmable gate array,” International Journal of Artificial Intelligence, vol. 12, no. 1, 2023.

D. Wang, Z. Tian, A. Gholami, and G. Yang, “Evaluation of virtual controller interface device and software-in-the-loop simulation,” Proceedings of the Institution of Civil Engineers: Transport, vol. 174, no. 6, 2021.

J. Yang, X. Wang, S. Baldi, S. Singh, and S. Fari, “A software-in-the-loop implementation of adaptive formation control for fixed-wing UAVs,” IEEE/CAA Journal of Automatica Sinica, vol. 6, no. 5, 2019.

S. Elanchezhian and G. Anitha, “Software In-Loop Simulation of a Quad Tilt Rotor Unmanned Aerial Vehicle for Transition Control,” Transactions of Famena, vol. 47, no. 1, 2023.

W. Zhao, Y. Guo, J. Yang, W. Xue, X. Wu, “Design of liquid rocket engine fault diagnosis device and its HIL verification,” Beijing Hangkong Hangtian Daxue Xuebao/Journal Beijing University Aeronautics and Astronautics, vol. 45, no. 10, pp. 1995–2002, 2019.

J. Yang, A. Konno, S. Abiko, and M. Uchiyama, “Hardware-in-the-loop simulation of massive-payload manipulation on orbit,” ROBOMECH Journal, vol. 5, no. 1, 2018.

T. Koo, R. Ko, D. Ha, and J. Han, “Development of Model-Based PEM Water Electrolysis HILS (Hardware-in-the-Loop Simulation) System for State Evaluation and Fault Detection,” Energies, vol. 16, no. 8, 2023.

H. Y. Irwanto and E. Artono, “Correlation of Hardware in the Loop Simulation (HILS) and real control vehicle flight test for reducing flight failures,” Journal of Physics: Conference Series, vol. 1130, no. 1, p. 012014, 2018.

Y. Gao, J. Wang, S. Gao, and J. Ding, “A General Integrated Design and Control Strategy Considering System Decomposition with Application to a Rocket Flight Attitude Control System,” IEEE/ASME Transactions on Mechatronics, vol. 25, no. 6, 2020.

M. Bouziane, A. E. M. Bertoldi, P. Milova, P. Hendrick, and M. Lefebvre, “Development and testing of a lab-scale test-bench for hybrid rocket motors,” 15th International Conference on Space Operations, p. 2722, 2018.

N. N. Deshmukh et al., “Suppression of thermo-acoustic instabilities in horizontal Rijke tube using pulsating radial jets,” MethodsX, vol. 11, 2023.

H. Y. Irwanto, I. E. Putro, and S. Saeri, “HILS of FPV-2600 UAV using MyRIO-1950 as Optimal Flight Control System,” International Journal on Advanced Science, Engineering and Information Technology, vol. 11, no. 5, pp. 1780–1786, 2021.

H. Shin, J. Lee, H. Kim, and D. Hyunchul Shim, “An autonomous aerial combat framework for two-on-two engagements based on basic fighter maneuvers,” Aerospace Science and Technology, vol. 72, 2018.

A. Kumar, S. Yoon, and V. R. S. Kumar, “Mixed reality simulation of high-endurance unmanned aerial vehicle with dual-head electromagnetic propulsion devices for earth and other planetary explorations,” Applied Sciences, vol. 10, no. 11, 2020.

S. Lee, C. Park, Y. Park, and D. Lee, “Development of Simulation Environment for Proximity Flight Using Simulink and X-Plane,” Journal of the Korean Society for Aeronautical and Space Sciences, vol. 49, no. 6, 2021.

H. Y. Irwanto, “HILS of auto take off system: For High Speed UAV using booster rocket,” Proceeding - 2016 International Seminar on Intelligent Technology and Its Application, ISITIA 2016: Recent Trends in Intelligent Computational Technologies for Sustainable Energy, pp. 373–80, 2016.

W. Zhao, Y. Guo, J. Yang, and H. Sun, “Hardware-in-the-loop simulation platform for fault diagnosis of rocket engines,” 2019 IEEE 10th International Conference on Mechanical and Aerospace Engineering, ICMAE 2019, 2019.

F. M. Cantri, M. H. Bisri, and H. Y. Irwanto, “Realtime Simulation for Rocket Using Visual Programming,” Proceeding - IEEE 8th Information Technology International Seminar, 2022.

Y. W. Hadi, R. T. Bambang, “Development of hardware-in-the-loop simultion for rocket guidance system,” Proceedings - 5th International Conference on Electrical Engineering and Informatics: Bridging the Knowledge between Academic, Industry, and Community, pp. 229–34, 2015.

M. Sagliano, D. Seelbinder, S. Theil, and P. Lu, “Six-Degree-of-Freedom Rocket Landing Optimization via Augmented Convex–Concave Decomposition,” Journal of Guidance, Control, and Dynamics, 2023.

A. Ünal, K. Yaman, E. Okur, and M. A. Adlı, “Design and Implementation of a Thrust Vector Control (TVC) Test System,” Politeknik Dergisi, vol. 21, no. 2, pp. 497-505 2018.

G. H. Ceotto, R. N. Schmitt, G. F. Alves, L. A. Pezente, and B. S. Carmo, “RocketPy: Six Degree-of-Freedom Rocket Trajectory Simulator,” Journal of Aerospace Engineering, vol. 34, no. 6, 2021.

X. Yang, G. Liu, A. Li, and V. D. Le, “A Predictive Power Control Strategy for DFIGs Based on a Wind Energy Converter System,” Energies, vol. 10, no. 8, p. 1098 2017.

D. Lastomo, H. Setiadi, and M. R. Djalal, “Optimization pitch angle controller of rocket system using improved differential evolution algorithm,” Int. J. Adv. Intell. Informatics, vol. 3, no. 1, pp. 27–34, 2017.

I. Khan, I. Hussain, M. Z. A. Shah, K. Kazi, and A. A. Patoli, “Design and simulation of anti-lock braking system based on electromagnetic damping phenomena,” 2017 1st International Conference on Latest Trends in Electrical Engineering and Computing Technologies, INTELLECT 2017, 2018.

A. Bhadran, J. G. Manathara, and P. A. Ramakrishna, “Thrust Control of Lab-Scale Hybrid Rocket Motor with Wax-Aluminum Fuel and Air as Oxidizer,” Aerospace, vol. 9, no. 9, 2022.

L. Sopegno, P. Livreri, M. Stefanovic, and K. P. Valavanis, “Thrust Vector Controller Comparison for a Finless Rocket,” Machines, vol. 11, no. 3, 2023.

S. Pérez-Roca et al., “An MPC approach to transient control of liquid-propellant rocket engines,” IFAC-PapersOnLine, pp. 268–73, 2019.

C. Wang and Z. Song, “Convex Model Predictive Control for Rocket Vertical Landing,” 37th Chinese Control Conference, pp. 9837–9842, 2018.

I. McInerney, L. Nita, Y. Nie, A. Oliveri, and E. C. Kerrigan, “Towards a framework for nonlinear predictive control using derivative-free optimization,” IFAC-PapersOnLine, vol. 54, no. 6, 2021.

Z. Bojun, L. Zhanchao, and L. Gang, “High-precision adaptive predictive entry guidance for vertical rocket landing,” Journal of Spacecraft and Rockets, vol. 56, no. 6, 2019.