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cnpcshangbo / simscapeFOPD

Simscape drone altitude control with fractional order proportional derivate controller
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How to understand this flight control simulation platform? #33

Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

How many parts does the flight control simulation platform have? What does each part do?

cnpcshangbo commented 6 years ago

Actually, this flight control simulation platform (FCSP) contains drone physical model, flight dynamic model, and motor model. The controller contains pitch, roll loop, speed loop and position loop. Therefore, a whole simulation contains all those parts. I am going to explain them part by part and eventually provide a diagram that link all of those parts together.

cnpcshangbo commented 6 years ago

The physical model is really easy to make. The drone structure is imported from CAD model. After some modifications to make the drone behavior as expected, the physical model is finished. It contains automatic calculation for the drone torque and force. However, there's no aero-dynamic in Simscape. Extra work needs to be done to make the drone able to go up.