Platform for quadrirotors: Analysis and applications

摘要

This paper describes the effort of modeling and simulating the quadrirotor ITA-001 aircraft developed by a quadrirotors study group of the Instituto Tecnolgico de Aeronutica (-ITA). We developed this simulation platform to support research and training of new researchers in the area of unmanned aerial vehicles, especially quadrirotor. This paper describes the implementation of a Software-In-the-Loop (SIL), which will be used by the study group for the testing platform, using the commercial flight simulator X-Plane, the dynamics of aircraft and the environment, and the software Matlab/Simulink, which simulates where the control laws are implemented. The main result of this work was the development of a tool to aid the research and development of new aircraft of the type quadrirotor type and evaluate the use of flight simulator X-Plane as a simulation tool, for this purpose a comparison was made between the responses of X-Plane and the mathematical model based on equations of motion of the quadrirotor. Another result was an example of application of this platform for laboratory classes, using two aircraft and laws guiding.