Modeling and Control of a Modular Iron Bird

This paper describes the control architecture and laws of a new concept Modular Iron Bird aimed at reproducing flight loads to test mobile aerodynamic surface actuators for small medium size aircraft Unmanned Aerial Vehicles. The iron bird system must guarantee actuation counteracting forces. On one side, hydraulic actuator simulates hinge moments acting on due inertial effects during flight; other be tested applies an active moment angular position same surface. Reference are generated by simulation module reproduce more realistic conditions arising operations. design action is based dynamic model plant used generate loads. controlled using Proportional Integral Derivative algorithm tuned with optimization taking into account closed loop dynamics under testing, uncertainties disturbances in plant. Numerical simulations presented show effectiveness proposed laws.