Chapter 2 Hardware In the Loop modeling and simulation The hardware-in-the-loop(HWIL) simulation is only useful if it accurately portrays the vehicle dynamics and if the behaviors observed during fight tests can be repli cated on the ground. This chapter focuses on identifying some of the dynamical modes of fight for the 60 ARF Trainer aircraft, and verifying that the HWIL sim- ulations reflect the dynamics expected from the aircraft being employed. Reduced order models for 4 of the 5 dynamical modes are determined for the trainer ARF 60 aircraft using identification techniques on experimental fight data and analytical predictions based on aircraft geometry and aerodynamic data. Section 2.1 describes the simulation settings used to create the hardware-in-the-loop(HWIL) simulations and Section 2.2 details the procedures used to create models of the aircraft dynam ics from data collected during flight tests and hardware-in-the-loop simulations. I Section 2.3, the Cloud Cap autopilot is tuned for the trainer arF 60 aircraft and the closed loop response for several of the modes is measured using the HWIL simulator 2.1 Hardware in the loop simulations 2.1.1 Aircraft simulation model parameters Aerodynamic, inertial and engine calibration information is provided to the Cloud Cap HWIL simulation application to model the aircraft being fown. For simplyChapter 2 Hardware In the Loop Modeling and Simulation The hardware­in­the­lo op (HWIL) simulation is only useful if it accurately portrays the vehicle dynamics and if the behaviors observed during flight tests can be repli￾cated on the ground. This chapter focuses on identifying some of the dynamical modes of flight for the 60 ARF Trainer aircraft, and verifying that the HWIL sim￾ulations reflect the dynamics expected from the aircraft being employed. Reduced order models for 4 of the 5 dynamical modes are determined for the trainer ARF 60 aircraft using identification techniques on experimental flight data and analytical predictions based on aircraft geometry and aerodynamic data. Section 2.1 describes the simulation settings used to create the hardware­in­the­lo op (HWIL) simulations, and Section 2.2 details the procedures used to create models of the aircraft dynam￾ics from data collected during flight tests and hardware­in­the­lo op simulations. In Section 2.3, the Cloud Cap autopilot is tuned for the trainer ARF 60 aircraft and the closed loop response for several of the modes is measured using the HWIL simulator. 2.1 Hardware in the loop simulations 2.1.1 Aircraft simulation Model Parameters Aerodynamic, inertial and engine calibration information is provided to the Cloud Cap HWIL simulation application to model the aircraft being flown. For simply 31