Quadcopter Simulation Project - Spring 2023

This repository contains files related to my quadcopter simulation project for the Aerial Robotics course, instructed by Dr. Amin Talaeizadeh. Huge shoutout to my friend and teammate, Arshia Rezaei.

Project Description

The goal of this project was to simulate the dynamics and control of a quadcopter drone. Key aspects:

• Deriving and implementing equations of motion.
• Simulating motor speed changes and analyzing drone behavior.
• Designing control systems (PID) for roll, pitch, yaw and altitude.
• Cascade control system for position control.

Repository Contents

• simulink/: Folder containing MATLAB/Simulink code files for the simulation.
• results/: Output plots showing drone behavior for different test cases.
• CAD/: CAD files of the designed quadcopter.
• report/: Word and PDF file with analysis of simulation results.

Simulation Cases

The simulation was run for the following cases:

1. Hover condition
2. 10% reduced motor speeds
3. 10% increased rear motor speed
4. Pitch control for 30 degrees forward motion

The report files analyze the drone's behavior for each case.

Simulation Parameters

Here is the table from the end of the file formatted as a Markdown table:

Simulation Parameters

Parameter	Value
Weight	5 kg
Inertia matrix	$$[0.5, 0, 0; 0, 0.5, 0; 0, 0, 1]$$
Horizontal distance of motor center from center of mass	20 cm
Thrust coefficient	$C_T = 0.02$
Torque coefficient	$C_M = 0.005$