Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.

In this paper, we developed a prototype of a quadrotor and proposes how to model and conduct simulations to investigate the effect of roll, pitch and yaw as the inputs to the outputs of φ, θ and ψ angle in quadrotor. The Euler-Newton formalism is used to model the dynamic system. The simulation results show that, the majority of φ angle is
determined by the roll, most of the θ angle is determined by the pitch, and the ψ angle is determined by the yaw.

1. Modeling and Roll, Pitch and
Yaw Simulation of Quadrotor
Present by:
Oka Danil Saputra ([email protected])
Soo Young Shin ([email protected])

IT Convergence
Kumoh National Institute of Technology

Wireless & Emerging Networking System (WENS) Laboratory
Fall Conference of Korea Information and Communication Society November 30
th
, 2013 at Yonsei University

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•What is quadrotor? Quadrotor also called quadcopter is a multicopter with
four rotor.
•Why a quadrotor? Good maneuverability and reliable.
Step for made quadrotor

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•Roll is rotation of quadrotor around front-to-back axis.
•Pitch is rotation of quadrotor around left-to-right axis.
•Yaw is rotation of quadrotor around vertical axis.



Roll Movement Pitch Movement
Yaw Movement

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The main contribution:
•Develop a quadrotor.
•Do modeling and simulation.

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Assumption:
•Framework, microcontroller board, and
battery as cube.
•Propeller as rectangle.
•DC motor brushless as solid cylinder.
Cube Solid cylinder

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Table parameter of quadrotor
Symbol Value Unit
Body moment of inertia around the x-axis (??????
��) 8.3 ?????? 10
−3
N.m.??????
2

Body moment of inertia around the x-axis (??????
��) 8.3 ?????? 10
−3
N.m.??????
2

Body moment of inertia around the x-axis (??????
��) 15.5 ?????? 10
−3
N.m.??????
2

Diameter (d) 0.5 m
Mass (m) 1.2 kg

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Simulink model in Matlab

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•The influence of roll signal value = -5° when the pitch and yaw signal value = 0°
to the output θ, φ, and ψ angle.

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•The influence of pitch signal value = -5° when the roll and yaw signal value = 0°
to the output θ, φ, and ψ angle.

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•The influence of yaw signal value = -5° when the roll and pitch signal value = 0°
to the output θ, φ, and ψ angle.

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•The simulation results showed that the majority of φ angle is determined by
the input roll, most of the θ angle is determined by the input pitch, and the ψ
angle is determined by the input yaw.

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THANK YOU