How to customize quad plane model to tri- copter model?

Can this model be customized to tiltrotor UAV having 3 rotors, the two front have the same propeller of 13 in and the third have another propeller of 17in ?

openExample('uav/CustomizeVTOLConfigurationForYourApplicationExample')

Answer 1

[Altaïr]

Hey Nour,

Absolutely, the example for a quad rotor VTOL found here can be adapted to simulate a tri-rotor VTOL: 

https://www.mathworks.com/help/releases/R2023b/uav/ug/customize-vtol-configuration.html

Here are the modifications needed:

1. Modify the rotor geometry in the exampleHelperSetVTOLDynamics script located at VTOLApp\utilities\Setup within the example's base folder.
2. Update the force and moment calculations in the VTOLTiltrotor/Digital Twin/Force and Moments/Propulsion block for three rotors.
3. Alter the actuator control calculation in the VTOLTiltrotor/Autopilot/Scheduler block to suit a tri-rotor VTOL.
4. Change the VTOLTiltrotor/Visualization block only if visualization for the tri-rotor VTOL is necessary. The helper script exampleHelperTiltRotorAnimator in VTOLApp\utilities\Visualization will also need modification.

Keep in mind that the controller parameters might need tuning. For guidance, refer to this page on ‘Tune Control Design for VTOL UAV in Hover Configuration’: 

https://www.mathworks.com/help/releases/R2023b/uav/ug/tune-control-design-for-uav-in-hover.html

I believe this will assist you!