Re: [Jsbsim-devel] Quadcopter FDM

[Felix R. <fel...@gm...>]

Hi,

in the Paparazzi UAV project we currently use a very simple quadrotor model
which is sufficient for basic testing:
https://github.com/paparazzi/paparazzi/blob/master/conf/simulator/jsbsim/aircraft/simple_quad.xml
But something that models the real aircraft more closely would be
appreciated...

Hope that helps,
Felix


On Sun, Sep 20, 2015 at 8:10 PM, Elias Tarasov <eli...@gm...>
wrote:

> Hello!
> Last few weeks i've been trying to model FDM for a quadcopter, but failed.
>
> Questions:
> 1. What type of thruster is better to use? Propeller or Rotor?
> Actually, on a real quadcopter, it's a propeller, but the only one example
> of a system that can handle it is for Rotor (systems/afcs.xml).
> Real propellers for a quadcopter are simple blades, not near of such
> sofisticated device like helicopter's main rotor.
>
> 2. Im not sure, how Propeller could be used to achieve stable horizontal
> flight.
> Real quadcopters are able to fly horizontally with a small negative pitch
> angle.
> Here are few videos of my model to explain what i mean:
>
> https://drive.google.com/file/d/0ByDDImhSolf6MHZUTzVocVdCLW8/view?usp=sharing
>
> https://drive.google.com/file/d/0ByDDImhSolf6a2huMzR0Y2g0V28/view?usp=sharing
>
> https://drive.google.com/file/d/0ByDDImhSolf6R3BGRHhsVWVMX0E/view?usp=sharing
>
> https://drive.google.com/file/d/0ByDDImhSolf6ZDg5aE4yTEhiVjQ/view?usp=sharing
>
> https://drive.google.com/file/d/0ByDDImhSolf6ZDg5aE4yTEhiVjQ/view?usp=sharing
>
> To achieve quasi-stable horizontal flight i have to keep -30 degrees of
> pitch approximately.
> Here is FDM:
>
> https://drive.google.com/file/d/0ByDDImhSolf6WUJ6V25TSWt5eTQ/view?usp=sharing
>
> Of course, there are many resources, where i could find math model of a
> quadcopter,
> but converting high-abstraction math to JSBSim-xml is difficult (for me).
>
> Could anybody point out how to handle with these two questions?
>
> Thanks for help!
>
>
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