Skip to main content

[Week 15] Built Drone Simulator

1. Simulator Structure

Simulated quadcopter model using Matlab Simulink. The simulator consists of sub-parts, propeller, rotational dynamics and linear dynamics. Each

Sub-parts

Propeller

Propeller's torque, force and current change according to voltage

Rotational Dynamics

Drone's moment of inertia according to torque and force

Linear Dynamics

Acceleration of drone according to force, angle and velocity

Set Starting Position

Change starting position from coordinate system

2. Simulator


  •  Open loop simulator
  •  Close loop simulator  - Z axis

  •  Close loop simulator - X, Y, Z axis


3. Results

  • Open loop

  • Close loop - Z axis

  • Close loop - X, Y, Z axis

Comments

Post a Comment

Popular posts from this blog

[Week 11] Hardware build up and software developing environment setup

Date: 03.21.2019 Hardware build up and software developing environment setup The team already got most of hardware and software for the project. Because all hardware are ordered and shipped by parts, so we have to assemble them together to a functional UAV. For the software side, we have to set up the developing environment before programming process, including gathering access to matLab UAV simulator, searching for useful packages, downloading and installing all required libraries. Also, there are two group members are working on the software, so we have to set up a version control tool(Github) in order to avoid implementation conflict. 1. UAV Building. (assigned to Justin) The parts that we already got are:  6 Motors - ArduPilot Flight Controller - 6 Electronic Speed Controller - LiPo Battery - Power Distribution Board - Landing Legs - Remote Controller - Component Platform The parts still in shipping: - Optical Flow Sensor for Speed Measurements - Wireless...
Post a Comment
More

[Week 9] Equipment and Part Acquirement

Date: 03.8.2019 Equipment and Part Acquirement Currently the team is working to acquire software and hardware components to complete the project. The component acquirement is being attacked from two fronts, software and hardware. This blog post breaks down the team member assignment and the components necessary. 1. UAV Components (assigned to Justin) Hexrotor Components - ArduPilot Flight Controller - 6 Motors - 6 Electronic Speed Controller - LiPo Battery - Power Distribution Board - Landing Legs - Component Platform - 6 Carbon Fiber Arms - LiDAR Lite Sensor for Altitude Control - Optical Flow Sensor for Speed Measurements - Wireless  Receiver - Remote Controller Current Goals - Currently, the team is working to acquire components for the Hexrotor and will begin assembly shortly after. 2. Simulation Software (Assigned to Daeun Yim, Nanxin Jin) Matlab Drone Simulator License - Software access. Current Goals - Currently, the team is working to acquire ...
Post a Comment
More

[Week 13] Drone Controller and Sensor Integration

Drone Hardware - UAV hardware was built - Purchased necessary sensor and flight controller Flight Controller - Implemented and experimented basic controller. The video shows basic sensor reading of accelerometer and barometer. - Successfuly integrated sonar sensor to APM controller - Code will be shared on github https://github.com/nanxinjin/581-Robotics Plan for next week - Experiment on hovering and altitude controlling using sonar sensor data
Post a Comment
More