FIRST PRINCIPLE APPROACH TO MODELING OF SIMPLE QUADROTOR

• Main Author: SUDIYANTO (NIM : 236070020); Tim Pembimbing : Prof. Dr. Ir. Muljowidodo Kartidjo Dr. Ir. Agus , TATA
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/17379
• Institution: Institut Teknologi Bandung

The development of unmanned aerial vehicle has increased significantly during the last decade. As many difficult tasks have been successfully performed by commissioned UAVs in various fields around the world, the opportunity to achieve even more difficult and challenging tasks has been revealed. Various new designs of UAVs have been created to answer that challenges. Many of them were even unthinkable in practical use before. The rapidness of new designs creation must be facilitated by proper and efficient methods to analyze their characteristics and performance. First principle approach modeling is considered to be suitable to gain quick access both safely and cheaply. <br /> <br /> <br /> <br /> The approach is done with first formulating important relations between rotor inputs and outputs followed by inspections on each of quadrotor’s component to see how <br /> <br /> <br /> <br /> forces and moments are generated. Afterwards, quadrotor’s motion variables are derived by substituting componential forces and moments into the rigid body equation of motion to obtain nonlinear model of the quadrotor. The linear model is obtained by solving the nonlinear model for stationary condition followed by applying small perturbation method. The obtained model is then validated with experimental data.