To make sure that the trajectory generation tool works properly, the example implements a test in the trajectoryTest file. The model uses the trimLinearizeOpPoint to linearize the nonlinear model of the quadcopter using Simulink Control Design (R). To include these models, you can change the VSS_ENVIRONMENT variable in the workspace to toggle between variable and fixed environment models. The models implement several Aerospace Blockset™ environment blocks, including those for atmosphere and gravity models. To include sensor dynamics with these measurements, you can change the VSS_SENSORS variable in the workspace. The example stores the characteristics for the sensors in the file sensorVars. We also have a further understanding about the degrees of freedom in a Quadrotor.īy presenting this project, we hope to gain a good insight into mechanical model making using Simulink and enhance this in the future using various other techniques.An Inertial Measurement Unit (IMU) to measure the angular rates and translational accelerations. Simultaneously, we also try to understand the motion in the Quadrotor system by analyzing it’s equations. In first part of this project, we focus on converting basic mechanical models into simulated models using Simulink so that we get a better understanding of what we’re working on. When the voltages being provided to the motors are altered, the corresponding motion changes because a change in voltage indicates a change in the speed of the motor. The motion is predicted by taking into consideration the electronic voltages being supplied to each of the 4 rotors. This helps us in predicting motion dynamics when the system has been successfully implemented without the need for experimentation.

We have added in experimental findings to simulate this system which proves the fact that any such system can be modelled for a new Quadrotor according to the likings of the creator. This system is not just any normal Quadrotor system. We intend to use these advancements by developing a simulation model for a Quadrotor system.

The advancements in simulation technology, computing devices and information processing platforms have made it possible to design simulation models and predict their behavior. Quadcopter / Quadrotor Simulation using Simulink

Quadcopter simulink model download