INFINITE-HIL X1 · 3-DOF UAV test rig - UAV test platform
X1 is a modular HIL platform for evaluating real UAV hardware under controlled roll, pitch and yaw motion. Servo actuation, absolute encoder feedback and multi-sensor instrumentation are combined in one architecture to support control development, system identification and production quality control.
Vehicle geometry, mass and inertia, motion profile, instrumentation requirements and budget are assessed together to define the configuration, from fixture to control software.
Motion and measurement
X1’s concentric rotary structure combines physical attitude motion with angular reference, sensor response and control data. The architecture is adapted to the product under test and its measurement objectives.
Slip-ring transfer on roll, pitch and yaw carries power and signals through the rotary structure without cable-wrap travel limits. Motion profiles are defined around vehicle geometry, inertia and the selected actuation configuration.
A 21-bit multi-turn absolute encoder on each axis provides angular reference for motion monitoring and closed-loop control. IMU and application-specific force/torque measurements support analysis across multiple data sources.
The vehicle is secured through a fixture matched to the roll-axis mounting interface. Centre of mass, clearances and test loads are considered together; fixtures may be customer-supplied or engineered by INFINITE-HIL.
Mechanics
YawDriven from the steel base plate, guided by a top bearing on a black mast. A slip ring on top carries power and signals across the rotating joint.
PitchPivots on two opposite corners of the outer ring, with the drive and pulley on one side and bearings on both. Laser-cut, bent aluminium channel segments keep it light and stiff.
RollSpans the inner ring along 30 mm shafts. The vehicle is secured through a fixture matched to the roll-axis mounting interface, with its centre of mass aligned to the centre of rotation.
Interactive 3D
X1 simulation. Drag to rotate and use the sliders to control each axis.
Drag to orbit · scroll or pinch to zoom
Operating approaches
Programmed orientation sequences, closed-loop scenarios and free simulation are addressed within the same product architecture. The selected mode is defined together with the motion and measurement configuration.
Use defined angular positions and motion sequences for sensor, calibration and unit-comparison studies. Profiles, records and evaluation steps are configured around your test plan.
Evaluate the control system using real hardware feedback and model-based test inputs. Closed-loop disturbance-torque injection supports analysis of control response to application-defined dynamic effects.
Use the free-operation approach to examine the rotational response of the system under test. Mechanical behaviour and control settings for this mode are defined around the vehicle, motion range and measurement objectives.
Laboratory and software
Manage servo motion control, system connections and operator access through the central cabinet. Test setup and operating limits are defined together with the selected hardware and application requirements.
Evaluate angular reference, IMU and project-specific force/torque data together. Measurement points and sensor scope are configured around the physical behaviour under investigation.
Follow attitude visualisation, compass, motion and calibration panels, and telemetry charts in a shared interface. Examine system behaviour and recorded data within the test workflow.
Connect the MATLAB/Simulink Embedded Coder PIL/HIL workflow and ROS 2/Gazebo digital-twin interface to your development process. Data and control paths are configured for the existing infrastructure.
Specifications
Mechanical motion, instrumentation and software integration are configured as one system. The reference values below provide a starting point for defining your project-specific technical scope.
| Feature | Reference configuration |
|---|---|
| Rotational motion | 3 axes: roll, pitch and yaw; continuous 360° rotation on each axis. |
| Angular measurement | 21-bit multi-turn absolute encoders on every axis. |
| Weight capacity | Up to 25 kg in a suitable configuration; assessed with inertia, centre of mass and motion profile. |
| DUT envelope | Up to 600 mm rotor-to-rotor in the reference mounting arrangement; scalable for custom vehicles. |
| Inertial sensing | 9-DOF IMU: accelerometer, gyroscope and magnetometer. |
| Force and torque | Multi-channel acquisition at application-specific measurement points. |
| Control and interfaces | Closed-loop servo control; CAN, Ethernet/UDP telemetry and serial communication over USB. |
| Software and integration | Real-time monitoring; MATLAB/Simulink Embedded Coder PIL/HIL workflow; ROS 2/Gazebo digital-twin interface. |
| Operating approaches | Programmed orientation sequences, free simulation and autonomous disturbance-torque injection. |
| Actuation | BLDC servo actuators with planetary reduction; axis torque selected for the application. |
| Controller and host | 32-bit ARM Cortex-M4; Windows or Linux monitoring and control application. |
| Reference envelope | 1040 × 520 × 1300 mm (width × length × height); custom configurations may differ. |
| Power input | Single-phase 220 VAC, 50 Hz, supplied through the control cabinet. |
| Operating temperature | Datasheet reference range: 0–70 °C; included in application-specific configuration assessment. |
Values describe the X1 reference configuration. Mechanical envelope, fixture, weight capacity, axis torque, instrumentation and software scope are defined around your project requirements and budget.
The manufactured system
Your project
Share your vehicle geometry, target motion and measurement needs so we can assess fixture, actuation, instrumentation and software scope alongside your budget.
