UAV Dynamic System Modeling and Visualization using Modelica and FMI
Paper Presentation at the Vertical Flight Society's 76th Annual Forum & Technology Display
Author’s Copy: https://bit.ly/2Fgd4jo
Github Repository: https://bit.ly/2GJLdJd
Citation:
M. Podlaski, L. Vanfretti, H. Nademi and H. Chang, “UAV Dynamic System Modeling and Visualization using Modelica and FMI,” The Vertical Flight Society's 76th Annual Forum & Technology Display, Virginia Beach Convention Center on Oct. 6-8, 2020.
Abstract:
This paper presents an object-oriented, equation-based framework for multi-engineering modeling of a quadrotor UAV, which includes the rigid body dynamics, simplified aerodynamics, gyroscopic effects, electrical power system and battery losses, and DC motor dynamics. An open-source drone modeling library is introduced by explaining the mathematical models and multi-domain components used to model the drone. Animation and visualization techniques for the drone using CAD models are also introduced and explained. The proposed drone model is simulated under different flight scenarios using motor and power system models with different levels of detail, aiming to provide better means for design and understanding, of multi-engineering aspects of UAVs. This model provides a foundation for
future UAV open-source model development, electrified power propulsion design, visualization and interaction, and system identification.
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