Multirotor Aerial Vehicle modeling in Modelica

Muhamed Kuric
Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina

Nedim Osmic
Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina

Adnan Tahirovic
Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp17132373

Ingår i: Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Linköping Electronic Conference Proceedings 132:42, s. 373-380

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Publicerad: 2017-07-04

ISBN: 978-91-7685-575-1

ISSN: 1650-3686 (tryckt), 1650-3740 (online)


This paper presents a generalized multirotor aerial vehicle (MAV) modeling framework which includes rigid body dynamics, gyroscopic effects and motor dynamics. We illustrate how this model can be used to derive any MAV platform constructed with an arbitrary number of rotors by using the quadrotor case as an example. Based on this result, we design the first Modelica-based MAV simulator. We validate the proposed design by using a simple altitude and attitude stabilization control system through a Modelica simulation setup.


Multirotor Aerial Vehicle, Modeling, Modelica


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