The intent of this research is to identify a model which may be simple enough to easily use for control law design, and accurate enough for simulation. In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. In addition, a model-based classical control law is designed to for flight control. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper Modeling and control of quadcopter by Teppo. The parameters of the nonlinear dynamic model are estimated with the Linear Least Squares Error method. In-flight disturbances are introduced in flight tests to ensure frequency rich data. The performances of different models are compared using validation flight test data to select an accurate model. This model is used as the simulation model and the design model. Model-based control law design techniques are used to create a flight control law which provides good performance both in the simulator, as well as when deployed to the quadcopter.
#Quadcopter simulink model download software#
To perform these tests, the Real-Time - Marseille Grenoble Project software is used for the creation of ground station programs and flight control algorithms in Simulink.
#Quadcopter simulink model download download#
#Quadcopter simulink model download software# This test environment integrates a VICON camera systems, QuaRC Real Time system, a 3DR APM 2.6 micro-controller unit, and a Gumstix Overo AirSTORM micro-controller unit to create a low-cost quadcopter research platform. #Quadcopter simulink model download download#.#Quadcopter simulink model download software#.H1 = plot(Time, phi, 'b', 'linewidth',2) I_M = 3.357e-5 % rotational moment of inertia kg.m^2 L = 0.225 % distance between a rotor and the center of quadcopter (m) The main program to get the outputs for stabilizing controller and tracking controller for the quadcopter is as follows: %the main program Tracking Controller for Quadcopter with Square Trajectory The following stabilizing controller and tracking controller are implemented in Simulink: Solution for Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink: We will then:Ī) Implement the stabilizing controller using the gains given in the paper.ī) Implement a controller to follow a square trajectory with the body-fixed x-axis aligned with the direction of travel. The objective is to implement a simulation of the quadcopter dynamics by implementing the equations of motion given in the paper. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink You can download the paper HERE! It has a table of values that we will use for the simulation. The reference of the simulation equations is the paper “Modeling and control of quadcopter” by Teppo Luukkonen.
0 kommentar(er)
