Commissioning and modeling of a quadrotor: DJI Matrice 100
Abstract
Currently the use of unmanned aerial vehicles (UAV) is very recurrent in various applications industrial, commercial, environmental, academic, research , among others. One of the main topics of these vehicles is their correct manipulation/control in the absence of human presence. However, this cannot be achieved without starting up the plant and obtaining more complete mathematical models. This paper obtains a mathematical model of the UAV called Matrice 100 by DJI using well-known methodology found in the literature, and validates it by starting up the plant. This UAV is an experimental platform with carbon fiber frame and four rotors, it has a flight simulator of open architecture for communication/manipulation of the UAV, developed in Android Studio. To obtain the mathematical model, a structural configuration known as {CROSS} is considered and the methodology proposed by Euler-Lagrange is applied to describe the translational and rotational dynamics of the UAV to get an underactuated nonlinear model of order-twelve. To corroborate the proper functioning of the experimental platform and its correspondence with the mathematical model, simulation routines in Simulink-Matlab and the flight simulator provided by the manufacturer are presented, as well as experimental tests. For the above, a classic PD control tuned only to reach a height z in UAV is used (considering only translational dynamics).
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