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Quadrotor dynamics modelling using simulink

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16 Jul 2013 (Updated )

This simulator models the translational and rotational dynamics of a quadrotor.

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Description

The following things are modelled:
- Quadrotor dynamics
- Motor dynamics
- Kalman filter for state estimation
- Simple sensor model/ ADC conversion

The following are not modelled:
- Propeller dynamics
- Control laws
- Power subsystem

This sim can be used for:
- System feasibility studies
- System performance assessment and trade-offs
- Control law performance evaluation

I am sorry but I do not entertain emails regarding any type of support.

Details about Quadrotor dynamics can be found in this paper:
http://publications.asl.ethz.ch/files/bouabdallah07full.pdf

My Linkedin page is:
http://ca.linkedin.com/pub/balaji-shankar-kumar/13/7b7/350

Important - Pleae run KF_setp.m to initialize Kalman Filter variables.
Do not forget to declare system input variables and initial conditions once you are in the sim. Motor variables have to be declared by opening the "Motor Dynamics" block mask.

Required Products Simulink
MATLAB release MATLAB 6.0 (R12)
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Comments and Ratings (11)
23 Sep 2014 guidance and navigationtional control  
23 Jul 2014 Roberto Colella  
22 Mar 2014 Hirsh  
07 Feb 2014 Felix R. CaƱadillas

Hello!
Why an array of three elements how input (voltage) of actuator is used?
What units for the actuator's output do you use? rad/s, rpm or fps?
Thanks!

21 Nov 2013 Lo Jovan

good!

21 Nov 2013 Balaji Shankar Kumar

Load the KF_setup.m file to initialize the filter variables.

14 Nov 2013 Michael Ernst

All in all the model seems to be sophisticated, but still the same error whit Hmat (Hmat is not defined...) in the Kalman-Filter (correction) subsystem. Please help! Otherwise the model is not realy helpfull... Thx a lot!

24 Sep 2013 wu hugh

could you explain how the declair the Hmat matrix? I donot know how to that too.thx!

22 Sep 2013 karthi

how to set matrix variable in HMAT section..

19 Sep 2013 Balaji Shankar Kumar

Karthi -You need to declare the HMAT matrix in the matlab workspace to get rid of the eroor.

11 Sep 2013 karthi

In the KF correction task,HMAT error will be occured.
Plz help me

Updates
20 Nov 2013

Kalman Filter setup file now provided with the package.

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