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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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