. Rotor #1 rotates positively with respect to the z-axis. It is located parallel to the xy-plane, -45 degrees from the x-axis. Rotor #2 rotates negatively with respect to the body's z-axis.
It is located parallel to the xy-plane, -135 degrees from the x-axis. Download font real madrid 2013 ttf. Rotor #3 has the same rotation direction as rotor #1. It is located parallel to the xy-plane, 135 degrees from the x-axis. Rotor #4 has the same rotation direction as rotor #2. It is located parallel to the xy-plane, 45 degrees from the x-axis.
This example uses the approach defined by Prouty1 and adapted to a heavy-lift quadcopter by Ponds et al2. Control For control, the quadcopter uses a complementary filter to estimate attitude, and Kalman filters to estimate position and velocity. The example implements. A PID controller for pitch/roll control. A PD controller for yaw.
A PD controller for position control in North-East-Down coordinates The controllerVars file contains variables pertinent to the controller. The estimatorVars file contains variables pertinent to the estimator. The example implements the controller and estimators as model subsystems, enabling several combinations of estimators and controllers to be evaluated for design. To provide inputs to the quadcopter (in pitch, roll, yaw, North (X), East (Y), Down (Z) coordinates ), use one of the following and change the VSSCOMMAND variable in the workspace. An Inertial Measurement Unit (IMU) to measure the angular rates and translational accelerations.
A camera for optical flow estimation. A sonar for altitude measurement. The example stores the characteristics for the sensors in the file sensorVars. To include sensor dynamics with these measurements, you can change the VSSSENSORS variable in the workspace. Environment The models implement several Aerospace Blockset™ environment blocks, including those for atmosphere and gravity models.
To include these models, you can change the VSSENVIRONMENT variable in the workspace to toggle between variable and fixed environment models. Linearization The model uses the trimLinearizeOpPoint to linearize the nonlinear model of the quadcopter using Simulink Control Design (R). Testing To make sure that the trajectory generation tool works properly, the example implements a test in the trajectoryTest file. For more information on how to do this, see the Simulink Control Design ). Visualization You can visualize the variables for the quadcopter in one of the following ways. Using Simulation Data Inspector. Using the flight instrument blocks.
Toggling between the different visualization variant subsystems. You can toggle between the different variant subsystems by changing the VSSVISUALIZATION variable. Note that one of these variants is a FlightGear animation. To use this animation, you must add a FlightGear compatible model of the quadcopter to the project. The software does not include this model. Trajectory Generation A trajectory generation tool, using the Dubin method, creates a set of navigational waypoints. To create a trajectory with a set of waypoints this method uses a set of poses defined by position, heading, turn curvature, and turn direction.
To start the tool, open the project and run: The following interface displays. North and East (position in meters). Heading (degrees from North). Curvature (turning curvature in meters^-1). Turn (direction clockwise or counter-clockwise) A list of poses appears in the waypoint list to the right of the text boxes.
To add a waypoint, enter pose values in the edit boxes and click Add. The new waypoint appears in the waypoint list in the same panel.
To edit the characteristics of a waypoint, select the waypoint in the list and click Edit. The characteristics of the waypoints display in the edit boxes. Edit the characteristics as desired, then click OK. To cancel the changes click Cancel. To delete a waypoint, in the waypoint list, select the waypoint and click Delete. No-Fly Zone The panel defines the location and characteristics of the no-fly zones. To define the no-fly zone, the panel uses text boxes.
North and East (position in meters). Radius (distance in meters). Margin (safety margin in meters) Use the Add, Delete, Edit, OK, and Cancel buttons in the same way as for the Waypoints panel. Mapped Trajectory This panel plots the trajectory over the Apple Hill campus aerial schematic based on the waypoints and no-fly zone characteristics. To generate the trajectory, add the waypoint and no-fly zone characteristics to the respective panels, then click Generate Trajectory. To save the trajectory that is currently in your panel, click the Save button. This button only saves your last trajectory.
To load the last saved trajectory, click Load. To load the default trajectory, press the Load Default button. To clear the values in the waypoint and no-fly zone panel, click Clear.
Quadrotor Simulink Model
The default data contains poses for specific locations at which the toy quadcopter uses its cameras so the pilot on the ground can estimate the height of the snow on the roof. Three no-fly zones were defined for each of the auxiliary power generators, so in case there is a failure in the quadcopter, it does not cause any damage to the campus infrastructure. When the example generates the trajectory for the default data, the plot should appear as follows.
The following things are modelled: - Quadrotor dynamics - Motor dynamics - Kalman filter for state estimation - Simple sensor model/ ADC conversion The following are not modelled: - Propeller dynamics - Control laws - Power subsystem This sim can be used for: - System feasibility studies - System performance assessment and trade-offs - Control law performance evaluation I am sorry but I do not entertain emails regarding any type of support. Details about Quadrotor dynamics can be found in this paper: My Linkedin page is: My Personal website: Important - Please run KFsetp.m to initialize Kalman Filter variables. Do not forget to declare system input variables and initial conditions once you are in the sim.
Simulink Model Example
Motor variables have to be declared by opening the 'Motor Dynamics' block mask.