Quadcopter Simulink Model
AsbQuadcopterStartThis opens a Simulink project with the asbQuadcoptermodel and loads the required workspace variables.Run the asbQuadcopter model in normal simulation mode.Navigate through the different subsystems to learn about the modelinghierarchy and quadcopter dynamics. You can also view the Simulink 3-D animation of the model. For more information, see.With the asbQuadcopter Simulink project open, click theProject Shortcuts tab and perform one of thefollowing tasks based on the type of minidrone connected. NoteIn the flightControlSystem model, do not change theroot level input ports, output ports, or the signals throughthem.In Simulink, click the Deploy to Hardware icon,. After the build process and deploymentis successful, the Flight Control Interface is launched automatically if youhad selected the option Launch Parrot Flight Control Interfaceautomatically after build in the Configuration Parametersdialog box in Simulink (see ).Before flying the Parrot Rolling Spider with full speed, test the model atlow speed by spinning the motors at low power. Open the Flight ControlInterface (see ). Dragthe PowerGain slider to 20, which sets the power gainof the motors to 20%.Click START to start the drone.
The motors on theParrot minidrone start. The propellers spin for the time defined asflight duration (by default, the simulation time) and stop.To prepare the Parrot minidrone for flight, set the power gain of the motors to thehighest value (100%). Drag the PowerGain slider to100.Ensure the safety of people, animals, and property in thevicinity of the flight.Wear safety glasses at all times.Place the drone on a flat surface before starting.Fly the drone only indoors, with an open area greater than10x10 feet, over a non-glossy floor.Always be ready to stop the flight.
The Flight ControlInterface displays the STOP buttonafter the motors on the drone start.Click START to start the flight of the drone. Themotors on the Parrot minidrone start, and the drone performs a vertical take-off toan altitude of 1.1 meters.
The drone hovers at this position for the timedefined as flight duration (by default, the simulation time), and the motorsstop after the flight duration is completed.To stop the flight before the flight duration is completed, clickSTOP in the Flight Control Interface.Click Flight Log and MATFile to download the flight log and the MAT-file,respectively. The files droneFlight.txt andRSdata.mat are downloaded to the Current Folder in MATLAB.
NoteThe command parrot.util.PostFlightAnalysis isspecific to the asbQuadcopter model.After successfully flying the Parrot minidrone using the asbQuadcoptermodel, you can now redesign the controller logic in Simulink. Deploy your new modelon the minidrone by following the same steps, and start the minidrone flight usingthe same commands.
Always test your model with a low value of power gain (10–20%)for the motors. Ac3d license key generator. After you are confident about the minidrone flight, increase thepower gain and run the model on the minidrone.
Fly A Parrot Minidrone Using The Quadcopter Simulink Model
AbstractThe purpose of this honors thesis was to create a quadcopter equation of motion software model in order to develop a control system to make the quadcopter autonomous. This control system was developed using Matlab and Simulink, and the aspects of the quadcopter's flight that were chosen to be controlled were the roll angle, pitch angle, and height of the quadcopter. Upon the completion of this control system model, the actual quadcopter was to be constructed, flown, and used to collect experimental data for comparison to the model. However, the hardware was never made available due to back order problems, and so unfortunately no experimental data from actual test flights was able to be gathered and compared to the Simulink control syste m model.
None the less, the final Simulink model is still accurate because the actual geometry of the chosen quadcopter was used during simulation (including the moments of inertia and moment arm lengths). To begin, background research into quadcopter design is presented to give insight into the progress that has been made in the design of this type of aircraft. The equations of motion for the quadcopter considered in the control system are then derived through the use of twelve state variables. The Simulink model for the open loop system was then constructed in a fashion that converts the change in rotor thrust to the associated orientation angles of the quadcopter. Linear approximations were then used to distinguish the open loop transfer functions for each controlled variable (roll angle, pitch angle, and height), and compensators were designed for the control system in order to produce a natural frequency and damping that allowed for a 5% settling time of approximately two seconds.Created Date2013-05Contributor/////Subject/ /SeriesTypeExtent32 pagesLanguageCopyrightReuse PermissionsAll Rights ReservedCollaborating InstitutionsAdditional Formats//.