Modelling of Quad-Rotor Dynamics and Hardware-In Simulation

Abstract

The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodology to analyze and explain the control mechanism of quadcopter-UAV in academic and research institutions. This methodology includes simulation, modelling, attitude control, Hardware in-the Loop (HIL) testing methodology, performance evaluation, and an experimental testing platform. Coordinate systems, kinematics, and dynamics systems are derived in great detail. Then, a real-time test platform is designed to verify system stability in a safe environment. (HIL) simulation was performed by the Pixhawk flight controller board interfaced with the Mission Planner platform. The numerical results include the control parameters of the quadcopter position (phi, theta, psi), and the translation values. The simulation results showed high and reliable performance both at the desired roll, pitch, and yaw angles as well as at the quadcopter position in the coordinate axes. Furthermore, the results of the real-time experiments (indoor/outdoor flight tests) have successfully demonstrated good stability and high response. Based on the methodology used in this research, the cost and risk of real-time flight experiments for UAVs have been reduced.