modeling and roll, pitch and yaw simulation of quadrotor
DESCRIPTION
In this paper, we developed a prototype of a quadrotor and proposes how to model and conduct simulations to investigate the effect of roll, pitch and yaw as the inputs to the outputs of φ, θ and ψ angle in quadrotor. The Euler-Newton formalism is used to model the dynamic system. The simulation results show that, the majority of φ angle is determined by the roll, most of the θ angle is determined by the pitch, and the ψ angle is determined by the yaw.TRANSCRIPT
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
DOC ID
• What is quadrotor? Quadrotor also called quadcopter is a multicopter with
four rotor.
• Why a quadrotor? Good maneuverability and reliable.
Step for made quadrotor
DOC ID
• 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
DOC ID
The main contribution:
• Develop a quadrotor.
• Do modeling and simulation.
DOC ID
Assumption:
• Framework, microcontroller board, and
battery as cube.
• Propeller as rectangle.
• DC motor brushless as solid cylinder.
Cube Solid cylinder
DOC ID
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
DOC ID
Simulink model in Matlab
DOC ID
• The influence of roll signal value = -5° when the pitch and yaw signal value = 0°
to the output θ, φ, and ψ angle.
DOC ID
• The influence of pitch signal value = -5° when the roll and yaw signal value = 0°
to the output θ, φ, and ψ angle.
DOC ID
• The influence of yaw signal value = -5° when the roll and pitch signal value = 0°
to the output θ, φ, and ψ angle.
DOC ID
• 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.
DOC ID
THANK YOU