Motion control analysis of a quadcopter system part II — Modelling

Quad copters are VTOL aerial robot systems and has complex dynamics in spite of its simple design. In the present work, a quadcopter of plus configuration is assembled and its flight characteristics are experimentally studied. To stabilize the system during its flight a KK multicopter platform is used. Flight stabilization is done and data of motor input voltage is acquired using a arducopter flight board. The flight dynamics of such a system is briefly explained in Part I of this paper. In this paper the numerical simulation of such a quad copter is done using Matlab Simulink. The work includes motor dynamics and the nonlinearities involved in the governing equations. The voltage data acquired during the flight of the experimental system is given as an input and its motion control analysis is done. The results of the experiments and developed mathematical model are compared. They are fairly in agreement with each other which validate the present model. This is a first step in automating the VTOL aerial robot system avoiding human dependence in any form which will be the scope of future work.