____ _____ _ ____ __ __ _____
| _ \| ____| / \ | _ \| \/ | ____|
| |_) | _| / _ \ | | | | |\/| | _|
| _ <| |___ / ___ \| |_| | | | | |___
|_| \_\_____/_/ \_\____/|_| |_|_____|
___ _ _ _ ____ ____ ___ __ __ _ _ _ _ _____ ___ ____
/ _ \| | | | / \ | _ \ / ___|_ _| \/ | | | | | / \|_ _/ _ \| _ \
| | | | | | |/ _ \ | | | | \___ \| || |\/| | | | | | / _ \ | || | | | |_) |
| |_| | |_| / ___ \| |_| | ___) | || | | | |_| | |___ / ___ \| || |_| | _ <
\__\_\\___/_/ \_\____/ |____/___|_| |_|\___/|_____/_/ \_\_| \___/|_| \_\
NIMBUS LAB
2017 - jore@cse.unl.edu
The purpose of this document is to explain a simulink quadrotor simulator with pendulum.
FILES:
quad_model_with_pendulum.slx THE MAIN SIMULINK FILE
quad_model_with_pendulum_params.m PARAMETERS USED BY SIMULINK, INCLUDES TARGET POSITION FOR THE POSITION CONTOLLERS, MASS OF THE UAV
experimental_link_model_x_minus.slx PENDULUM LINK FILE WITH SMALL "MINUS ANGLE" OFFSET, SO THAT PENDULUM LINKS ARE NOT STRAIGHT DOWN
experimental_link_model_x_plus.slx
README.txt THIS FILE
Top Level Hummingbird Part.STL 3D MODEL OF AN ASCTEC HUMMINGBIRD (JIM HIGGINS)
quaternion.m HELPER FILE FOR QUATERNIONS (MARK TINCKNELL)
To run the simulation, use MatLab Simulink 2016 and load the params files. You'll need to change your MatLab working directory to this directory.
After loading the param file, open the 'quad_model_with_pendulum.slx' file.
Click the green play button in Simulink to run the physical model simulation.
See the params file for descriptions of the individual configuration parameters.