Modeling and Simulation of Quadcopter Dynamics in Steady Maneuvers

摘要

With the growth of quadcopter popularity in hobbyist and research fields, there has been numerous studies of quadcopter dynamics in simulations. Most of these studies have been around the hover condition with very little work being done for other steady state maneuvers such as a rectilinear or circular (light path. This is often because of neglected aerodynamic effects on the quadcopter dynamics that is present in previous works. This paper develops a kinematics model of a generic quadcopter for steady maneuvers to be used in a parametric study to numerically estimated simulated dynamic flight modes. Aerodynamic effects are included through use of a previous aerodynamic effects model. The studies in this paper help illuminate the dynamics otherwise missed and helps to enable higher fidelity controllers for quadcopters during steady maneuvers.