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[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

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