altitude output problem with 6DOF EoM (Euler) fixed mass block.

Question

Dhruvilkumar Chavada 2023-6-1

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1976679-altitude-output-problem-with-6dof-eom-euler-fixed-mass-block

回答： Raj 2023-9-7

DOF6_EoM.slx

I am using built in block from aerospace blockset for 6DOF euler angles with fixed mass for quadcopter.

i have entered mass as 15,5 kg and inertia as [2.14 0 -0.56;0 5.45 0;-0.56 0 7.18].

z axis poining down.

As drone weights 15,5 kg, total thrust requrired to lift the drone is approx 152 N.

Now when i use constant block for force [0 0 -100]' N and moment [0 0 0]' N m as an input to the 6DOD block, still my drone is travelling across z direction.

How come my drone is going up and up with -100 N force??

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Answer 1

Raj 2023-9-7

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1976679-altitude-output-problem-with-6dof-eom-euler-fixed-mass-block#answer_1303766

Hi,

I understand that you have a drone of 15.5 kg which requires a total thrust of 152 N. The value of the external force is 100 N in vertically upward direction

But the drone is still going upward.

The acceleration of the drone is [0 0 -6.452], found from the equations which you can check from the documentation attached below.

https://www.mathworks.com/help/aeroblks/6dofeulerangles.html

Scroll down to Algorithms section of the documentation and check with the equations governing the motion.

Check the value of Abb from the equation. I hope this helps to solve the query you had!