Abstract

GONZALEZ, F. A.; AFANADOR CRISTANCHO, M. E.  and  NINO LOPEZ, E. F.. Modeling and simulation of a quadrotor through the integration of Simulink and Solidworks. Maskay [online]. 2019, vol.9, n.1, pp.15-24. ISSN 1390-6712.  https://doi.org/10.24133/maskay.v9i1.1043.

The current research paper presents the dynamic model from a UAV (Unmmaned Aerial Vehicle) type quad copter. The mentioned model simulates closest behavior, respect to a real performance when realizes basic movements. In order to develop the math, model the quadcopter has been considered as a rigid object with 6 DOF (six degrees of freedom), which is divided into translational and rotational coordinates, using a technique based on Euler-Lagrange Equations to model. In that way is possible to acquire the expressed transfer function on the quadcopter dynamic model. The UAV’s rotational dynamic is defined by the most important inertia moments, located in the vehicle center of mass. The inertia moments had been estimated using ‘Solidworks’ software. To achieve it the quadcopter was assembled with a minimum quantity of parts, after that, the design was uploaded into Simulink software to add complete the results including a 3d animation. A Control Strategy was attached to the quadcopter design, to stabilize the described plants, finally the performance is corroborated applying him external perturbations like gusts of wind, variable masses, looking to create instability during the flight, expecting for a system controlled reaction. The results showed the UAV stabilize to his reference position in less than twelve seconds (12) against a gust of wind that caused its horizontal displacement. This is an important application of the rotational dynamics of the UAV, using Simulink and the Simscape Multibody library in conjunction with Solidworks. Achieving a tool of great interest and therefore a significant contribution to the study of UAVs, giving the possibility of using of a practical tool for the design of quadrotors focused on different applications, such as precision agriculture.

Keywords : Quadcopter; Simulink; Solidworks; dynamic mode;l stability..

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