In this paper, we developed a prototype of a quadrotor and proposes how to model and conduct simulations to investigate the effect of roll, pitch and yaw as the inputs to the outputs of φ, θ and ψ angle in quadrotor. The Euler-Newton formalism is used to model the dynamic system. The simulation results show that, the majority of φ angle is determined by the roll, most of the θ angle is determined by the pitch, and the ψ angle is determined by the yaw.

1. Wireless & Emerging Networking System (WENS) Laboratory
Modeling and Roll, Pitch and
Yaw Simulation of Quadrotor
Fall Conference of Korea Information and Communication Society November 30th, 2013 at Yonsei University
Present by:
Oka Danil Saputra (okadanil@kumoh.ac.kr)
Soo Young Shin (wdragon@kumoh.ac.kr)
IT Convergence
Kumoh National Institute of Technology

2. • What is quadrotor? Quadrotor also called quadcopter is a multicopter with
four rotor.
• Why a quadrotor? Good maneuverability and reliable.
Step for made quadrotor
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3. • Roll is rotation of quadrotor around front-to-back axis.
• Pitch is rotation of quadrotor around left-to-right axis.
• Yaw is rotation of quadrotor around vertical axis.
Pitch Movement
Roll Movement
Yaw Movement
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4. The main contribution:
•
Develop a quadrotor.
•
Do modeling and simulation.
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5. Assumption:
• Framework, microcontroller board, and
battery as cube.
• Propeller as rectangle.
• DC motor brushless as solid cylinder.
Cube
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Solid cylinder

6. Table parameter of quadrotor
Symbol
Value
Unit
Body moment of inertia around the x-axis (𝐼 𝑥𝑥 )
8.3 𝑥 10−3
N. m. 𝑠 2
Body moment of inertia around the x-axis (𝐼 𝑦𝑦 )
8.3 𝑥 10−3
N. m. 𝑠 2
Body moment of inertia around the x-axis (𝐼 𝑧𝑧 )
15.5 𝑥 10−3
N. m. 𝑠 2
Diameter (d)
0.5
m
Mass (m)
1.2
kg
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7. Simulink model in Matlab
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8. •
The influence of roll signal value = -5° when the pitch and yaw signal value = 0°
to the output θ, φ, and ψ angle.
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9. •
The influence of pitch signal value = -5° when the roll and yaw signal value = 0°
to the output θ, φ, and ψ angle.
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10. •
The influence of yaw signal value = -5° when the roll and pitch signal value = 0°
to the output θ, φ, and ψ angle.
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11. •
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The simulation results showed that the majority of φ angle is determined by
the input roll, most of the θ angle is determined by the input pitch, and the ψ
angle is determined by the input yaw.

12. THANK YOU
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