Tilting-rotors Quadcopters: A New Dynamics Modelling and Simulation based on the Newton-Euler Method with Lead Compensator Control

The recently developed Tilting Rotors Quadcopters (TRQs) embedded system has gained wide application because of its feature to track a particular trajectory with fix tilting. Attaining precise TRQ dynamic models, particularly by bearing in mind dynamics of motors, is vital for designing controllers. In this study, a TRQ platform is modeled on the basis of the Newton-Euler technique while taking into account motor dynamics. The motor speed is controlled as a closed loop system by applying a lead compensator. Mathematical models have been developed and simulated for the inertial sensors and the battery. The TRQ system was simulated using Matlab and tested with different conditions. The proposed model supports estimations of voltage drop under different environmental conditions. Initial sensors noise is also included in the proposed model.