quadcopter vertical dynamics modelling

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almaz ham
almaz ham 2015-2-18
Hello. I try to get state-space model of my quadcopter vertical motion under gravity.
I can't simulate effect of gravity. For this i try to add matrix K to my state-space model, but without success. There is no difference if i use:
sys = idss(A,B,C,D,K,x0,timestep)
or
sys = ss(A,B,C,D,timestep)
Result same. There is code:
clear all
timestep = 0.002;
m = 0.0027;
g = 9.81;
T_hover = 20000;
Kt = g*m/T_hover;
A = [1 timestep ; 0 1];
B = [+(Kt/m)*(timestep^2)/2 ; +(Kt/m)*timestep];
K = [ -(g)*(timestep^2)/2 ; -(g)*timestep];
C = [1 0];
D = [0];
x0 = [0; 0];
sys = idss(A,B,C,D,K,x0,timestep)
length = 2000;
inputm = zeros(length,1);
inputm(300:500) = 25000;
t = 0:timestep:(length-1)*timestep;
[y_m,t_m,x_m] = lsim(sys,inputm,t,x0);
subplot(2,1,1);
plot(inputm);
title('input thrust');
ylim([-1000 26000]);
subplot(2,1,2);
plot(x_m);
legend('coordinate','speed');
Maybe i missed something obvious. Help me please.

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