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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
• 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.

Pitch Movement

Roll 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

DOC ID

Solid cylinder
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
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
•

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.
THANK YOU

DOC ID

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Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.

  • 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. • 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. • 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. The main contribution: • Develop a quadrotor. • Do modeling and simulation. DOC ID
  • 5. Assumption: • Framework, microcontroller board, and battery as cube. • Propeller as rectangle. • DC motor brushless as solid cylinder. Cube DOC ID Solid cylinder
  • 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. Simulink model in Matlab DOC ID
  • 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. • 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. • 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. • 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.