Dynamic Modelling and Analysis of a Quadrotor Based on Selected Physical Parameters
Idrissi, Moad and Annaz, Fawaz (2020) Dynamic Modelling and Analysis of a Quadrotor Based on Selected Physical Parameters. International Journal of Mechanical Engineering and Robotics Research (IJMERR), 9 (6). pp. 784-790. ISSN 2278-0149
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Abstract
Over the past decade, control techniques have been widely implemented on quadrotors to achieve the desired positions within the coordinate system. However, ensuring that the dynamics are correct and that similar results to a physical model can be obtained has been a question of interest. In this paper, the quadrotor dynamics are thoroughly analysed in simulation without using any controllers. Specifically, suitable actuators and propellers have been selected to generate ideal thrusts that will enforce the unmanned aerial vehicle (UAV) to lift. By using kinematics approach, one can analyse the expected motion of the UAV after a certain thrust is applied on all motors. Hence, the dynamics of the proposed quadrotor are recognised and verified through numerical simulations, leading to presenting the motions of the physical model. The results attained have illustrated promising results in which a comparative study between experimental and theoretical methods have presented little to no errors.
| Item Type: | Article |
|---|---|
| Identification Number: | https://doi.org/10.18178/ijmerr.9.6.784-790 |
| Date: | 1 June 2020 |
| Uncontrolled Keywords: | UAV, Quadrotor, Dynamic Modelling, Automation |
| Subjects: | H400 Aerospace Engineering H600 Electronic and Electrical Engineering |
| Divisions: | Faculty of Computing, Engineering and the Built Environment > School of Engineering and the Built Environment |
| Depositing User: | Fawaz Annaz |
| Date Deposited: | 13 Feb 2020 11:31 |
| Last Modified: | 19 May 2020 10:27 |
| URI: | http://www.open-access.bcu.ac.uk/id/eprint/8898 |
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