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Paul Bizard commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Yes, this is what I mean. But I guess you'd better go to sleep and everything will be cristal clear tomorrow :)
Steve commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
It's 3AM so maybe I'm not thinking straight, but isn't reversing all the u,w,p,r,x,z columns and then rows just reversing the same numbers back and forth? I guess my english isn't that great because I must have a different idea…
Paul Bizard commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
No no, reverse the signs of the the u, w, p, r, x & z columns and then reverse the signs of the u, w, p, r ,x & z rows (this implies that the elements of the main diagonal at the intersections of the u, w, p, r, x & z columns and…
Steve commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Ah ok... so make all negative but not reverse the signs? (Change all positive to negative, but not negative to positive?)
Paul Bizard commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
No he did'nt tell me to take them away but to change their signs.
Steve commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Paul, i'm more confused now. Taking out those parts will yield an incomplete state space matrix. I'm not sure why Mark Drela told you to do this?
Paul Bizard commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Yes I did. But beware, you must change some signs in the dynamic matrix from AVL. This is a message from prof. M. Drela :
The system matrix is always in AVL's geometry coordinates. This is a practical necessity because that's what's…
Steve commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Has anyone successfully used the AVL stability matrix directly ported into SIMULINK's State space matrix block? I've done it, but AVL's matrix seems to be incorrect as it gives me a nonsensical output from the Simulink loop.
Paul Bizard replied to Just Robotics's discussion 'Kalman Filter vs DCM'
The Kalman Filter is 10x more accurate but 10x more costly in computations. I have compared the two of them. Lets says that the complementary filter will be accurate to better than 5 degrees (depends upon the way the aircraft flies - aerobatics or…
Paul Bizard commented on Henry Fletcher's blog post 'Switching from DCM to Quaternion'
Yes, because today you still need to switch back and forth between the quaternion and the DCM representations for feedback purpose, the DCM algorithm is not so "clunky" !
And thank you Bill for having given DCM to all the DIY Drone…
Paul Bizard commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Hi Sam,
Excuse me for answering so late but I don't have much time.
Don't try to use AVL for big angles such as 180, 90 or 45°. The corresponding values I have written are fake. They are here just to be sure the simulation will not…
Blog posts by Paul Bizard
Samuel Lee Toepke commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Hello,I'm attempting to model another airframe in AVL, and then use the 'P_sim.mdl' to run the new 'P.m' file for that airframe (I'll call it 'P_Supra.m'). The .avl and .mass files are from Professor…
Ali commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Hi Paul,
I am planing to model my aircraft in AVL and roughly get the aerodynamic coefficient. Actually I am very new in this area.As you mentioned in your first post, I would appreciate if you can share with us the way you generated the…
Héctor García de Marina commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Hello j c,
his subsystems (about the physical model) are based on aerodynamic coefficients. For a quadrotor you should not need this, the quad equations are well known as its dynamic is easy to model, well, actually, the hard part is to model your…
j c commented on Paul Bizard's blog post 'Matlab/Simulink/AVL simulator'
Paul,
I am interested in modelling a quadrotor in a similar manner to your model here.
I would like to look inside your model, but I can't seem to open it. I think it is due to differing Simulink versions. Mine is Ver 6.
Is it possible to…
Profile Information
- About Me:
- French and Canadian.
System Control Engineer.
- Tell us a bit about your UAV interest
- I have an UAVDevboard
Paul Bizard's Blog
Matlab/Simulink/AVL simulator
Posted on December 20, 2011 at 2:30am 83 Comments 4 Likes
Here is a Simulink airplane simulator working together with aerodynamic coefficients and stability coefficients computed with Mark Drela's AVL program.
The simulink model file is P.mdl:…
Comment Wall (6 comments)
- At 2:20am on December 8, 2009,
Steph Renard said…
- Paul Bizard du Canada ?
- At 6:59am on December 8, 2009,
Paul Bizard said…
- Hello Stéphane !
- At 1:12pm on January 19, 2010,
Heinrich Mueller said…
- Paul you made a great work with your Filter-Code and Documentation. Tanks !
One Question Can your offer the matlab or simulink files? We work on an implemetation of pressure sensor and magnetic sensor informations for VTO aircrafts and have a simulink model running.
- At 9:10am on February 23, 2010,
Rick Steele said… - Hi Paul,
I started that design a while back but then noticed several other guys were also designing IMU's so I decided to wait and see what everyone else came up with. So far they all seem to fall just short of what I had in mind.
I want a full IMU/Autopilot that has enough processing power, sensors and connections to autopilot a helicopter, airplane, quadcopter or whatever, all in one unit. It needs to be small and be reasonably priced.
I was reading Chris’s list of N00b questions yesterday and was particularly interested in the helicopter related ones. I currently own and fly a Trex 700, a Trex 500, a Raptor 60, a Easyglider and a Mikrokopter Hexa, the easiest by far is the Mikrokopter Hexa because of the stability and autopilot capability built into the electronics and firmware. The coolest is the helicopters but they are way more difficult and I am not much more than a novice.
My ultimate goal is to provide the same or better functionality to my heli’s. I know this is probably the most difficult thing to do but if we design for it in from the ground up and you math/software wizards design the firmware from the ground up to handle heli’s then we might be able to come up with a solution don’t you think?
If you guys are interested, I am willing to open the design so that we can create the ideal IMU/Autopilot board as a group. I will do the schematics, board layout and have the prototypes built if that’s what everyone wants to do or we could see about having DIY Drones store or maybe even Sparkfun build them. You, Bill and whoever else come up with the firmware and configuration software and let’s see what we can come up with.
Best Regards
Rick
- At 9:15am on February 23, 2010,
Rick Steele said…
- Continued...
My original design was based on the following components:
1 - IDG650 X/Y Gyro
1 - ISZ-650 Z Gyro
1 - MMA7260QT Accelerometer
1 - BMP085 Barometric Pressure sensor (altitude)
1 - MPXV5010DP Pressure sensor (air speed)
1 - HMC5843 3 Axis Magnetometer
1 - STM32F103 ARM MCU
1 - CPLD for up to 10 PWM output and other logic.
1 - Venus634FLPx 10Hz GPS on a chip (not perfect but small and fast, better suggestions welcome)
1 - SMA connector for remote GPS antenna
1 – USB function connection to connect to PC for development and test.
The plan was to pin out a UART, SPI, and I2C channel for interfacing to other onboard devices and USB for interfacing to a PC for development and testing.
However now that both STMicroelectronics and Invensense have announced 3-axis gyros they might be worth looking at for a new design instead of two separate gyros for pitch/row and yaw.
If there is already such a device available please point me to it so I can save myself a lot of time and money.
BTW for those of you that don't know me I am the guy that has the full color HUD or OSD for those that like that acronym better. You can see some video here if you are interested.
Best Regards
Rick
- At 11:30am on March 8, 2010,
Rick Steele said…
- Hi Paul,
Did you see the post from benjamin1254 here on the Standford University Autonomous Helicopter Project? Here is the Stanford site if you have not seen it and are interested. There are several papers posted on that site, most of which are over my head.
I am pointing this all out because I would like to suggest that if we are going to develop a new IMU/Autopilot we should set our goal on being able to duplicate this ability as much as possible. What do you think?
I don't know if any of the actual details of the project are available anywhere since it seems to have been performed under a Darpa contract but you never know.
I have the Helicopters and can design and build the hardware and can help with writing the software. I am just very weak on the math. We probably lots of genius software gurus that would love to be involved if we are going to do something with this capability.
Let me know your thoughts…
Regards
Rick
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