MV-7010: Co-Simulation with Twin Activate - Quadrotor Control

Twin Activate is a software solution for multi-disciplinary, dynamic system modeling and simulation. The software is especially useful for signal-processing and controller design that requires both continuous-time and discrete-time components.

A co-simulation enables MotionSolve and Twin Activate models to communicate with each other during simulation. An ideal use case for co-simulation is the development of a control system for a multibody dynamics model.

Quadrotor Model and Control

A quadrotor model is a multirotor helicopter that uses 2 sets of identical fixed pitched propellers (2 clockwise and 2 counter-clockwise) to control lift and torque.

Control of vehicle motion is achieved by altering the rotation rate of one or more rotor discs, thereby changing its torque load and thrust or lift characteristics.

In MotionView you will create the quadrotor frame with 4 superblades and add the rotors motions. A set of forces will be used to represent the wind disturbance.

Twin Activate, through co-simulation with MotionSolve, will implement a controller to impose altitude and direction in quadrotor trying to compensate against the wind effect.

Exercise

Copy the Quadrotor_start.mdl, rotor.h3d, shaft.h3d, superblade.h3d and Quadrotor_Control_Start.scm from <installation_directory>tutorials\mv_hv_hg\mbd_modeling\motionsolve\cosimulation\activate> to your <working directory>.