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Please, Help me Quadcopter Z channel simulation...
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ammjy:
Hello,,,

Thanks you for your time.

Now, I am trying build Quadcopter Attitude + Z channel simulation with Linear Dynamics model on the Simulink of Matlab.

it's meaning, 4 outputs, namely, Phi Theta Psi and Z(Height) are exsist.

and I'm using PID controller block that Matlab provide.

also, I am using following linear equations.

phi_2dot = 1/Jx          (Phi_2dot is meaning, Angular Acceleration. therefore, Phi_dot is Angular Velocity, Phi is Angle)

theta_2dot = 1/Jy

psi_2dot = 1/Jz

and

z_2dot = g - 1/m       (z_2dot is Linear Acceleration and z_dot is Linear Velocity of Vertical, and z is Position z)

where, Jx, Jy, Jz is moments of inertia and m is mass of quadcopter.

but, problem is z channel.

always output is totally unstable and has strange graph.

the whole loop is in attached .pdf file. and output graph of z also attached in this post.

someone Could you give some advise ?

Please, let me know !!

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