Next, the script loads the QuadCopter_Body.stl file to build the actor shape, translates, and rotates the Body actor. First, the script creates the Body actor, sets actor properties, and attaches the Body actor to the Parent actor in the world. The Main tab contains the Initialization script to create, build, and animate the Quadcopter actor. You must include the configuration block when building Simulink models with Simulation 3D Actor blocks.ĭouble-click the Simulation 3D Actor block named Quadcopter to open the Block Parameters dialog box. The Simulation 3D Scene Configuration block implements a 3D simulation environment. This test environment integrates a VICON camera systems, QuaRC Real Time system, a 3DR APM 2.6 micro-controller unit, and a Gumstix Overo AirSTORM micro-controller unit to create a low-cost quadcopter research platform.The model includes a Simulation 3D Scene Configuration block and a Simulation 3D Actor block named Quadcopter. To perform these tests, the Real-Time - Marseille Grenoble Project software is used for the creation of ground station programs and flight control algorithms in Simulink. Model-based control law design techniques are used to create a flight control law which provides good performance both in the simulator, as well as when deployed to the quadcopter.
This model is used as the simulation model and the design model.
The performances of different models are compared using validation flight test data to select an accurate model. In-flight disturbances are introduced in flight tests to ensure frequency rich data. The parameters of the nonlinear dynamic model are estimated with the Linear Least Squares Error method. In addition, a model-based classical control law is designed to for flight control. The intent of this research is to identify a model which may be simple enough to easily use for control law design, and accurate enough for simulation. In addition, a model-based classical control law for the quadcopter UAV is designed, simulated, and then deployed in UAV flight tests. In this research, a nonlinear dynamic model of a quadcopter UAV is presented and model parameters are estimated off-line using in-flight experimental data. As control systems become more sophisticated, more accurate system models are needed for control law design and simulation.
0 kommentar(er)
