IDEAS home Printed from https://ideas.repec.org/a/zna/indecs/v14y2016i1p88-100.html
   My bibliography  Save this article

Mathematical modelling of unmanned aerial vehicles with four rotors

Author

Listed:
  • Zoran Benic

    (Koncar D&ST, Zagreb, Croatia)

  • Petar Piljek

    (Faculty of Mechanical Engineering and Naval Architecture – University of Zagreb, Zagreb, Croatia)

  • Denis Kotarski

    (Karlovac University of Applied Sciences, Karlovac, Croatia)

Abstract

Mathematical model of an unmanned aerial vehicle with four propulsors (quadcopter) is indispensable in quadcopter movement simulation and later modelling of the control algorithm. Mathematical model is, at the same time, the first step in comprehending the mathematical principles and physical laws which are applied to the quadcopter system. The objective is to define the mathematical model which will describe the quadcopter behavior with satisfactory accuracy and which can be, with certain modifications, applicable for the similar configurations of multirotor aerial vehicles. At the beginning of mathematical model derivation, coordinate systems are defined and explained. By using those coordinate systems, relations between parameters defined in the earth coordinate system and in the body coordinate system are defined. Further, the quadcopter kinematic is described which enables setting those relations. Also, quadcopter dynamics is used to introduce forces and torques to the model through usage of Newton-Euler method. Final derived equation is Newton’s second law in the matrix notation. For the sake of model simplification, hybrid coordinate system is defined, and quadcopter dynamic equations derived with the respect to it. Those equations are implemented in the simulation. Results of behavior of quadcopter mathematical model are graphically shown for four cases. For each of the cases the propellers revolutions per minute (RPM) are set in a way that results in the occurrence of the controllable variables which causes one of four basic quadcopter movements in space.

Suggested Citation

  • Zoran Benic & Petar Piljek & Denis Kotarski, 2016. "Mathematical modelling of unmanned aerial vehicles with four rotors," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 14(1), pages 88-100.
    • Handle: RePEc:zna:indecs:v:14:y:2016:i:1:p:88-100
    as

    Download full text from publisher

    File URL: http://indecs.eu/2016/indecs2016-pp88-100.pdf
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Mariusz Jacewicz & Marcin Żugaj & Robert Głębocki & Przemysław Bibik, 2022. "Quadrotor Model for Energy Consumption Analysis," Energies, MDPI, vol. 15(19), pages 1-33, September.
    2. Simone Fiori, 2019. "Model Formulation Over Lie Groups and Numerical Methods to Simulate the Motion of Gyrostats and Quadrotors," Mathematics, MDPI, vol. 7(10), pages 1-35, October.
    3. Matija Krznar & Denis Kotarski & Petar Piljek & Danijel Pavkoviæ, 2018. "On-line Inertia Measurement of Unmanned Aerial Vehicles using on board Sensors and Bifilar Pendulum," Interdisciplinary Description of Complex Systems - scientific journal, Croatian Interdisciplinary Society Provider Homepage: http://indecs.eu, vol. 16(1), pages 149-161.
    4. Matija Krznar & Danijel Pavković & Mihael Cipek & Juraj Benić, 2021. "Modeling, Controller Design and Simulation Groundwork on Multirotor Unmanned Aerial Vehicle Hybrid Power Unit," Energies, MDPI, vol. 14(21), pages 1-26, November.

    More about this item

    Keywords

    quadcopter; earth frame; body frame; rotation matrix; Newton-Euler method; control variable;
    All these keywords.

    JEL classification:

    • Z19 - Other Special Topics - - Cultural Economics - - - Other

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:zna:indecs:v:14:y:2016:i:1:p:88-100. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Josip Stepanic (email available below). General contact details of provider: .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.