Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.

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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.

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Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.

  1. 1. Wireless & Emerging Networking System (WENS) Laboratory Modeling and Roll, Pitch and Yaw Simulation of Quadrotor Fall Conference of Korea Information and Communication Society November 30th, 2013 at Yonsei University Present by: Oka Danil Saputra (okadanil@kumoh.ac.kr) Soo Young Shin (wdragon@kumoh.ac.kr) IT Convergence Kumoh National Institute of Technology
  2. 2. • 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
  3. 3. • 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. Pitch Movement Roll Movement Yaw Movement DOC ID
  4. 4. The main contribution: • Develop a quadrotor. • Do modeling and simulation. DOC ID
  5. 5. Assumption: • Framework, microcontroller board, and battery as cube. • Propeller as rectangle. • DC motor brushless as solid cylinder. Cube DOC ID Solid cylinder
  6. 6. Table parameter of quadrotor Symbol Value Unit Body moment of inertia around the x-axis (𝐼 𝑥𝑥 ) 8.3 𝑥 10−3 N. m. 𝑠 2 Body moment of inertia around the x-axis (𝐼 𝑦𝑦 ) 8.3 𝑥 10−3 N. m. 𝑠 2 Body moment of inertia around the x-axis (𝐼 𝑧𝑧 ) 15.5 𝑥 10−3 N. m. 𝑠 2 Diameter (d) 0.5 m Mass (m) 1.2 kg DOC ID
  7. 7. Simulink model in Matlab DOC ID
  8. 8. • 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
  9. 9. • 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
  10. 10. • 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
  11. 11. • 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.
  12. 12. THANK YOU DOC ID

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