Synthesis of SimMechanics Model of Quadcopter Using SolidWorks CAD Translator Function

Jatsun, Sergey; Лушников, Б. В.; Emelyanova, Oksana; Leon, Andres Santiago Martinez

doi:10.1007/978-981-15-5580-0_10

Cited by 7 publications

(4 citation statements)

References 14 publications

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“…The position of the center of mass of the convertiplane-quadcopter in space is characterized by the X 0 , Y 0 ,Z 0 coordinates in a global Cartesian coordinate system and the three angles of rotation ϕ, θ, ψ-roll, pitch, and yaw angles around the axes of the local coordinate system CX 1 Y 1 Z 1 [3,[13][14][15] (Fig. 1).…”

Section: Mathematical Modeling Of the Dynamics Of The Uavmentioning

confidence: 99%

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Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Jatsun

Emelyanova

Bezmen

et al. 2021

Smart Innovation, Systems and Technologies

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The paper presents a hardware/software architecture for the study of algorithms for controlling an unmanned aerial vehicle-type quadcopter in the presence of wind loads; an algorithm for the stabilization of the position of the center of mass of the quadcopter has been implemented and tested on an experimental model. The purpose of the presented hardware/software architecture is a study of the UAV control system parameters influence on the accuracy of the positioning of the vehicle in laboratory conditions under the influence of wind loads, as well as the movement of the vehicle along the specified points of the trajectory based on inertial sensors. The article discusses about the necessary hardware and software elements for reaching the stabilization of the position of the quadcopter in the hover mode based on data obtained from sensors. As the result of the study, the theoretical and experimental data are compared and the permissible range of the positioning error of the device is determined.

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Section: Mathematical Modeling Of the Dynamics Of The Uavmentioning

confidence: 99%

“…The main vector of the aerodynamic forces of the rotor, due to the smallness of the coefficients of the longitudinal and transverse forces, is equal to the thrust force [14,15]:…”

Section: Mathematical Modeling Of the Dynamics Of The Uavmentioning

confidence: 99%

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Jatsun

Emelyanova

Bezmen

et al. 2021

Smart Innovation, Systems and Technologies

Self Cite

View full text Add to dashboard Cite

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“…Subsequently, the developed model will be used to evaluate the performance and accuracy of the WMR model in a path-following problem. This approach is verified using a physical model developed by Simscape Multibody, which represents an alternative for some research work to understand the dynamic behavior of physical systems (Jatsun et al, 2021;Mahmoud et al, 2022;Zatopek et al, 2018).…”

Section: Introductionmentioning

confidence: 98%

Multibody dynamics modeling and simulation of a three-wheeled mobile robot using a robotic approach

Khadr

2024

IJIUS

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PurposeThis paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.Design/methodology/approachFirstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.FindingsSimulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.Originality/valueThe motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.

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“…SimMechanics is multibody dynamics simulation software designed by Mathworks company, and it utilized to model and simulate mechanical systems. With this software, researchers can analyze and optimize the performance of their robots [3,4]. ADAMS (Automatic Dynamic Analysis of Mechanical Systems) is a multibody dynamics simulation software used to model and analyze mechanical systems [5,6].…”

Section: Introductionmentioning

confidence: 99%

A PyQt6-Based Platform for Real-Time Control and Monitoring of a Quadrotor Multibody System Using ROS2 and Gazebo

Djizi¹,

Zahzouh²

2023

JESA

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This paper presents a PyQt6 server-based application design for controlling a quadrotor multibody system in a simulated environment using the Gazebo 3D model and ROS2 on Linux. The combination of PyQt6 with ROS2 offers an intuitive graphical interface that simplifies access to control parameters and flight modes. The system incorporates a unique Gazebo plugin that connects to a proportional-derivative (PD) controller, providing stable quadrotor flight control. Notably, this plugin facilitates precise quadrotor movements and establishes reliable communication between the server and quadrotor, distinguishing it from other plugins. Moreover, simulation results demonstrate the effectiveness of the proposed PyQt6 server-based application in real-time quadrotor control. The results exemplify the system's capability to achieve stable and precise quadrotor movement by effectively controlling motion along the three axes (x, y, and z) along with yaw. However, the primary contribution of the system presented in this paper lies in the development of a robust PyQt6 server-based application designed to control a quadrotor multibody system. Furthermore, the system exhibits inherent potential for extension to encompass the control of a physical quadrotor, thereby substantiating its viability in real-world applications.

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Synthesis of SimMechanics Model of Quadcopter Using SolidWorks CAD Translator Function

Cited by 7 publications

References 14 publications

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Multibody dynamics modeling and simulation of a three-wheeled mobile robot using a robotic approach

A PyQt6-Based Platform for Real-Time Control and Monitoring of a Quadrotor Multibody System Using ROS2 and Gazebo

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