Simulation Modeling of Quadcopter Flight Dynamics

The author presents a detailed simulation process for quadcopter modeling that encompasses multiple engineering disciplines. The simulation accounts for critical factors including aerodynamics (drag forces and moment calculations), mechanical dynamics (rigid body equations and inertia tensors), electrical system modeling (battery discharge characteristics and motor dynamics), and thermal management. The control system design employs MATLAB/Simulink implementations featuring PID controllers with anti-windup compensation and state-feedback controllers using LQR (Linear Quadratic Regulator) optimization. Key algorithms include coordinate transformations using rotation matrices, sensor fusion for attitude estimation via complementary filters, and motor mixing algorithms for thrust distribution. The article introduces fundamental flight control concepts through practical code examples, demonstrating how to implement transfer functions for motor response and discretize control algorithms for real-time applications. This technical guide serves aviation enthusiasts and robotics developers seeking to understand quadcopter operational principles and advanced control methodologies through hands-on simulation approaches.