Simulation Modeling and Analysis of a Quadrotor Suspended Load System

As an advanced aerial transportation solution, the quadrotor suspended load system has garnered significant attention in various fields in recent years. This paper aims to provide a detailed description of the simulation modeling process to address the lack of modeling details in existing literature. The quadrotor suspended load system consists of a quadrotor connected to a payload via a cable, forming a typical underactuated nonlinear system. In this study, the full-state system mathematical model is first established based on the EulerLagrange equations, and then the simulation model is implemented using Simulink. The model accounts for the dynamic coupling effects between the quadrotor and the suspended payload. To facilitate controller design, the system model is further equivalently transformed and simplified, making it more suitable for practical control algorithm implementation. Furthermore, the simulation modeling and analysis conducted in this study provide a theoretical foundation and technical support for the practical application of quadrotor suspended load systems.