How to fix a freedom in Simscape?

Hi I am using the model from https://www.mathworks.com/videos/quadcopter-simulation-and-control-made-easy-93365.html

I know MATLAB and Simulink, but I am a newbie for Simscape.

What I am trying to do is fix the Quadrotor's pitch and roll axis. So that the drone's pitch and roll will not change any more. In this way, I could tune the drone's altitude controller by itself first.

As a new guy of Simscape, I think I need to change some settings in Transform or 6 DOF joint. But I've no idea where to change. I am also confused about the difference between Transform and 6 dof joint.

Any one can give me some ideas? Thanks,

[Bo]

[Birdman]

You need to share the model.

[Bo]

@Birdman Thank you for your reply. My model is available from https://github.com/cnpcshangbo/simscapeFOPD

[Birdman]

You just need to share the file with .mdl extension. Not the entire project.

[Bo]

I have made this public long ago. You can run this project and open the model from project shortcut. The models are .slx files now. https://github.com/cnpcshangbo/simscapeFOPD/tree/master/QuadRotor/Models

[Bo]

The part that I took screenshot is in Quadrotor_Controller.slx. You'll need to open the External Force block. Thanks.

Answer 1

[Nicolas Schmit]

Replace the 6-DOF joint with a prismatic joint.