Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.
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Transcript of Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.
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Modeling and Roll, Pitch and Yaw Simulation of Quadrotor
Present by: Oka Danil Saputra ([email protected]) Soo Young Shin ([email protected])
IT Convergence
Kumoh National Institute of Technology
Wireless & Emerging Networking System (WENS) Laboratory
Fall Conference of Korea Information and Communication Society November 30th, 2013 at Yonsei University
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• What is quadrotor? Quadrotor also called quadcopter is a multicopter with
four rotor.
• Why a quadrotor? Good maneuverability and reliable.
Step for made quadrotor
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• Roll is rotation of quadrotor around front-to-back axis.
• Pitch is rotation of quadrotor around left-to-right axis.
• Yaw is rotation of quadrotor around vertical axis.
Roll Movement Pitch Movement
Yaw Movement
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The main contribution:
• Develop a quadrotor.
• Do modeling and simulation.
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Assumption:
• Framework, microcontroller board, and
battery as cube.
• Propeller as rectangle.
• DC motor brushless as solid cylinder.
Cube Solid cylinder
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Table parameter of quadrotor
Symbol Value Unit
Body moment of inertia around the x-axis (𝐼𝑥𝑥) 8.3 𝑥 10−3 N. m. 𝑠2
Body moment of inertia around the x-axis (𝐼𝑦𝑦) 8.3 𝑥 10−3 N. m. 𝑠2
Body moment of inertia around the x-axis (𝐼𝑧𝑧) 15.5 𝑥 10−3 N. m. 𝑠2
Diameter (d) 0.5 m
Mass (m) 1.2 kg
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Simulink model in Matlab
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• The influence of roll signal value = -5° when the pitch and yaw signal value = 0°
to the output θ, φ, and ψ angle.
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• The influence of pitch signal value = -5° when the roll and yaw signal value = 0°
to the output θ, φ, and ψ angle.
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• The influence of yaw signal value = -5° when the roll and pitch signal value = 0°
to the output θ, φ, and ψ angle.
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• The simulation results showed that the majority of φ angle is determined by
the input roll, most of the θ angle is determined by the input pitch, and the ψ
angle is determined by the input yaw.
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THANK YOU