Modeling and control of an octorotor flying robot using the software in a loop

Abstract

The modeling and simulation phase of flying robots is of great importance because of the high production expenses of their production, the need for a flawless structural design and also the necessity for predicting the robot reactions in various flight modes. In this way, using software and their combination in a design procedure can be resulted in decreasing the cost and increasing speed and accuracy manufacturing of an actual model. In this paper, dynamic modeling and flying simulation of an Octorotor flying robot has been studied by employing software programs combination. In this regard, the robot structural design has been performed in SolidWorks software. Then, the robot dynamic model has been achieved by importing the model to ADAMS software and finally, the prototyping and control of the robot are resulted by linking MATLAB and ADAMS in a loop. In these simulations, the nonlinear PID controller is used. Also, in order to achieve a real control simulation, the motor speed has been used as the controller's input. Moreover, the saturation bound has been used for each motor's speed.