Bachelor Thesis ArduPlane model with Matlab/Simulink

Posted by Konstantin Schmit on November 15, 2012 at 7:24am

Hello all,

 

I'm currently working towards my B.S. degree in Aerospace Engineering at FH-JOANNEUM, Austria. My thesis work involves the development of a flight control system for a flying wing UAV. I'm using the APM 2 with the ArduPlane software. I started by simulating the aircraft in Matlab/ Simulink with a 6DOF Nonlinear Simulation Model. Currently I'm analysing the ArduPlane code in order to design a Simulink model of the Ardu-Pilot flight controller to determine, simulate and optimize the affordable values. I've almost finished the Simulink model of the Ardu-Pilot flight controller. 

Now, is there any effort already done in this direction? 

Anyone interested in reviewing the Simulink flight controller model?

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Replies

  • Aniket Shirsat March 21, 2014 at 4:03pm

    Hey  Konstantin,

    I am a Graduate Research Student at Arizona State University, US. I am currently having difficulties in verifying  linear models for the quad rotor research platform in MATLAB®. I wanted to know if anyone has done any work in this category. 

    I would like to know basic guidelines on what functions can be used to linearize the model about different flight conditions. I have used fsolve() in MATLAB® but it has given me incorrect results for trim input forces.

    Any help or guidance is appreciated.

    Thanks,

    Aniket

    • Adil Rashid > Aniket Shirsat May 20, 2014 at 4:18pm

      I am interested in reviewing your simulink model. 312adil@gmail.com . if you are willing then send me your files at this email address asap.

  • Oliver Buhn October 4, 2013 at 11:59pm

    If anyone still interested, they can use this blockset if they can access a Matlab version >2012a.  Works with APM2.5 too.

    http://www.mathworks.com/matlabcentral/fileexchange/39037-apm2-simu...

  • Aerobot September 27, 2013 at 11:29pm

    Were you able to get all the sensor data from APM 2 ?  

  • Shivang Baveja February 17, 2013 at 2:59pm

    Hi Marcell

    I am an undergraduate student majoring in Electrical Engineering. I am using ardupilot with a custom designed airframe. I am interested in tuning the arduplane controller gains using matlab/simulink. I am developing a flight dynamics model using 6 DOF simulink model.

    It would be really helpful, if you could upload the simulink model of Ardu-Pilot flight controller you had developed.

    Thanks

  • Konstantin Schmit November 19, 2012 at 3:34am
    Thank you for your answers!
    I'll upload the simulink model soon but I have to talk to my supervisor first. I would be happy about some suggestions for improvements.
    I'm also working on an Arduplane flight control system description to make the Simulink model easier to understand.
  • Jan van Hulzen November 16, 2012 at 1:05am

    I have been working on modeling and identification. A problem you will need to tackle is the lack of a way to output your sensor data. I am currently working on a 'flight data recorder' based on the vdrive usb module and am testing this on a standard arduino mega using a jtag interface and an avr-one as programmer. It not finished yet but i will post this comment because you need to be careful if you try to validate your models based on data received from the ardu pilot or its interface. The reason is that the timing of the measurements may not match in its current form. It is possible that this will hinder your efforts when trying to match model and data. Be careful in your assumption that measurements are taken at fixed intervals and have fixed amounts of time delays etc.

    Also, i am very interested in your work and i will be happy to review it 

    Thanks 

    Jan van Hulzen

  • Christian Lopez November 15, 2012 at 11:59am

    Marcell,

    I've been working on mapping a version of the flight controller for Matlab/Simulink as well. I took a break to work on an XBee issue, but my next step was to model what I derived in Simulink.

    If you want, I'd be happy to review the Simulink flight controller, and give you some feedback. 

    Thanks,

    Christian

  • I.S. November 15, 2012 at 8:40am

    Hi Marcell,
    have you checked Jason Short's sim? http://www.jasonshort.com/

    May be you can check the code to figure out the model he's using.

    ArduCopter SIM
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