Modeling and simulation of a quadrotor through the integration of Simulink and Solidworks
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Abstract
The current research paper presents the dynamic model from a UAV (Unmanned Aerial Vehicle) type quadcopter. The mentioned model simulates the closest behavior concerning an actual performance when it realizes basic movements. To develop the math model, the quadcopter has been considered a rigid object with 6 DOF (six degrees of freedom) divided into translational and rotational coordinates, using a technique based on Euler-Lagrange Equations to model. In that way, the expressed transfer function on the quadcopter dynamic model can be acquired. The UAV’s rotational dynamic is defined by the most critical inertia moments in the vehicle center of mass, and the inertia moments were estimated using Solidworks software. To achieve it, the quadcopter was assembled with a minimum quantity of parts; after that, the design was uploaded into Simulink software to complete the results, including a 3d animation. A Control Strategy was attached to the quadcopter design to stabilize the described plants. Finally, the performance was corroborated by applying external perturbations like gusts of wind and variable masses, looking to create instability during the flight, expecting a system-controlled reaction. The results showed the UAV stabilized to its reference position in less than twelve seconds (12) against a gust of wind that caused its horizontal displacement. This is an essential application of the rotational dynamics of the UAV, using Simulink and the Simscape Multibody library in conjunction with Solidworks. Achieving a tool of great interest and, therefore, a significant contribution to the study of UAVs, giving the possibility of using a practical tool to design quadrotors focused on different applications, such as precision agriculture.
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