The aerospace industry needs to be provided with system solutions to technologically challenging and mission-critical problems. Based on the industrial control point of view, development engineers must take costs and existing standards into account in order to effectively design, implement, and deploy control systems with reasonable costs. The customization and reusability are important factors associated with the production of new applications in order to reduce their costs, resources, and development time. In this work, the Model-Driven Architecture (MDA)/Model-Based Systems Engineering (MBSE) approach combined with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), Unscented Kalman Filter (UKF) algorithm, and hybrid automata is specialized to obtain a hybrid control model in order to conveniently deploy controllers of Quadrotor Unmanned Aerial Vehicles (Q-UAVs). This hybrid control model also provides a real-time capsule pattern, which allows the designed elements to be customizable and reusable in new applications of various multirotor UAVs of the Vertical Take-Off and Landing (VTOL) type. The Q-UAV dynamics and control architecture are combined with the MDA/MBSE specialization as follows: the Computation Independent Model (CIM) is defined by specifying the use-case model together with the UKF algorithm and hybrid automata to intensively gather the control requirements. The Platform Independent Model (PIM) is then designed by specializing the real-time UML/SysML’s features to obtain the main control capsules, ports, and protocols, together with their dynamic evolution. The detailed PIM is subsequently transformed into the PSM by open-source platforms to rapidly implement and deploy the Q-UAV controller. The paper ends with trial flights and deployment results that show good feasibility to be used for a trajectory-tracking controller of a low-cost Q-UAV. In this case study, the Q-UAV controller is implemented with the simulation model in the OpenModelica tool. The obtained simulation results then allow the main control elements and their properties to be defined, as well as building the implementation libraries in the Arduino environment based on C++ language to quickly perform the realization model in the ATMEGA32-U2 and STM32 Cortex-M4 microcontrollers.

中文翻译：

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面向对象系统工程的观点，以开发四旋翼无人机的控制器

航空航天业需要提供系统解决方案，以解决技术难题和关键任务问题。基于工业控制的观点，开发工程师必须考虑成本和现有标准，以便以合理的成本有效地设计，实施和部署控制系统。定制和可重用性是与生产新应用程序相关的重要因素，以减少其成本，资源和开发时间。在这项工作中，模型驱动架构（MDA）/基于模型的系统工程（MBSE）方法与实时统一建模语言（UML）/系统建模语言（SysML），Unscented Kalman相结合过滤器（UKF）算法和混合自动机专门用于获取混合控制模型，以方便地部署四旋翼无人机（Q-UAV）的控制器。这种混合控制模型还提供了实时胶囊模式，使设计的元素可以在垂直起降（VTOL）类型的各种多旋翼无人机的新应用中进行自定义和重用。Q-UAV动力学和控制体系结构与MDA / MBSE专业技术组合如下：通过指定用例模型以及UKF算法和混合自动机来定义计算独立模型（CIM），以集中收集控制要求。然后，通过专门化实时UML / SysML的功能来设计平台独立模型（PIM），以获得主控制模块，端口，和协议，以及它们的动态演变。随后，详细的PIM通过开源平台转换为PSM，以快速实现和部署Q-UAV控制器。本文以试飞和部署结果作为结尾，显示出将其用于低成本Q-UAV的轨迹跟踪控制器的良好可行性。在本案例研究中，Q-UAV控制器是通过仿真模型实现的。OpenModelica工具。然后，获得的仿真结果允许定义主要控制元素及其属性，以及在Arduino环境中基于C ++语言构建实现库，从而在ATMEGA32-U2和STM32 Cortex-M4微控制器中快速执行实现模型。