Unmanned aerial vehicle dynamic simulation in SimInTech

Abstract

The paper considers the simulation results of the flight monitoring system of an unmanned aerial vehicle (UAV) of the octocopter type in SimInTech dynamic simulation environment, where the developed mathematical model was exported. The paper also proposes a monitoring system based on a proportional-integral-derivative (PID) controller. The simulation of the octocopter monitoring system was completed by the export of the monitoring system developed in Simulink environment. The described approach to simulation allows evaluating the copter monitoring system and reproducing the flight dynamics of a real physical object. Here, the modeling of precession effects is omitted, it is assumed that the torque reaction of each engine-propeller combination (EPC) equals zero, namely: each EPC has two motors and rotors rotating at the same speed in opposite directions. The issue of simulating equipment failures is also omitted and it is assumed that the object is only in the air (in normal flight mode). The given model does not imply landing and take-off modes, emergency situations, load grip system and unloading, as well as does not consider the issues of detailed modeling of sensors, filtering of signals and noises, bending of the frame of the copter and/or rotors, operation at out-of-limit loads, writing drivers to particular equipment. The technical result of the algorithm is the design and parametric implementation of the model of the object dynamics in the general form and in the volume sufficient for the design of the flight controller and the ground control panel of the copter.