Modelado y Simulación de Aterrizaje y Despegue Vertical de Vehículo Aéreo No Tripulado Tipo Cohete Mediante la Integración de Simulink y Solidworks

Abstract

This degree project focuses on the dynamic modeling and simulation of the control of the landing and vertical takeoff of a rocket-type unmanned aerial vehicle. The implementation of Simulink in conjunction with SolidWorks and classic PID control strategies is used to maintain the balance of the 6 degrees of freedom in the absence of disturbances. Starting with the construction of the vehicle in SolidWorks, the original geometry and mass densities of the components used in the prototype developed in the ASIMOV hotbed are considered. Then, the Euler-Lagrange formalism is used with the help of the Wolfram Mathematica software to develop the dynamic model of translation and rotation of the vehicle that was deduced from the classical theory of physics, in this case the principle of least action, discussed as a rigid body, in a fixed inertial frame and a mobile reference frame in the body of the vehicle. This model, initially non-linear, is linearized with equilibrium conditions to facilitate the dynamic decoupling of the variables. The implementation of SolidWorks and Simulink is achieved through the MATLAB extension "Simscape", which makes it possible to export rigid solids with their original physical properties and create the graphical simulation environment. The PID control strategy is used with the SISOTOOL tool to tune the constants of the controllers. The control tactic is validated through an animated interface that emulates the behavior of the physical system in its movement space. Future work is proposed that includes the consideration of the linear dependence in the control signals, the complex incorporation of environmental disturbances, the analysis of control strategies on the nonlinear model and the experimental verification of the results obtained in the simulation.