Modeling, simulation and control of a spincopter
Matko Orsag, Stjepan Bogdan, Tomislav Haus, Marko Bunic, Antonio Krnjak · 2011
In this article we present a mathematical model of a spincopter - an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink®, presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plane®software package. Finally, the proposed controller has been tested experimentally. Both, X-Plane®and experimental results confirmed the outcome from Simulink®.