modeling and roll, pitch and yaw simulation of quadrotor

Modeling and Roll, Pitch and Yaw Simulation of Quadrotor

Present by: Oka Danil Saputra (okadanil@kumoh.ac.kr) Soo Young Shin (wdragon@kumoh.ac.kr)

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