Quadcopter Prototype Stability Analysis Using Matlab Simscape Library

Abstract

Nowadays, the use of quadcopters in daily life has become important due to its capabilities and ability to carry out many tasks in many fields like civil, military, industrial, and agricultural fields. The modelling of the quadcopter and deeply understanding its movements is very important to ensure that the simulations of its behaviour are as close as possible to reality and also helps us to design a flight controller. In this work, we used a modern technique on MATLAB (Simscape) to simulate a quadcopter in real-time. At first, we build a quadcopter using Simscape multibody then we simulated the PID regulator, the command algorithms, and the motor model with the applied forces on the body to achieve the global model that we can use to study the movement of the quadcopter on the three-axis which ensure a stable functioning. The results obtained show the stability of the four movements of the quadcopter (roll, pitch, yaw, and altitude).