Modeling, Test Benches and Identification of a Quadcopter

The mathematical modeling of the dynamics of a quadcopter using the Newton-Euler method is presented in this study. Kinematics and kinetics were developed using Euler's angles as parameters to describe the rotations of the rigid body, and all the referential changes referring to rotations were made using Coordinate Transformation Matrices. Two test benches are proposed. First a 3 degree of freedom test bench that frees the aircraft rotation while retaining the translation. The second is a one degree of freedom test bench which complements the first one. At last the test benches are used in order to identify the actuators parameters and the inertia moments.