Modelica-Drone-3D-FMI

A drone model with 3D visualization and FMU export configuration developed using Modelica by Hao Chang and Luigi Vanfretti.

Contents

Drone Model with FMU Export Configuration and VR simulation.

A. Modelica Model

All sub-systems and simulation cases are contained within the ./DroneSimulation/package.mo package. Each model is saved individually as its own file. The Claytex VySeMA and Modelon Libraries are required to run models with non-ideal power systems using batteries and certain DC motor configurations. The full version of the DLR Visualization library is required to run any of the models using VR in the DroneSimulation.Visualization.mo package.

How to simulate it?

1. Open ./A_Modelica/DroneSimulation.mo

2. The package structure is set up with the following sub-packages:

   • Examples
   • Blocks
   • Electrical
   • Mechanical
   • Sensors
   • Gyroscope
   • Visualization
   • Tests

3. Under the Examples/DroneWithIdealPowerSystem package, open the model DroneTest.mo and select it as Simulation model. This has inputs that act as change in x, y, z coordinates of the drone and outputs x, y, z from the pseudo-GPS modeled within.

4. Go to simulation tab of your tool and change the simulation time to 10s then click simulate button.

5. This simulation should result with the z-coordinate approaching 5 meters, and the other coordinates (x,y) should be around zero. To verify, plot the variables .xgps, .ygps and .zgps of the model by running the Modelica script drone_simulation_setup.mos. You should obtain the result below.

6. Within Dymola, run the script drone_anymation_setup.mos, and then click on the Play button to see the animation. The red arrows indicate the force of the propellers.

B. FMU

Using the distributed FMU

• Within ./B_FMI/ an FMU generated by Dymola 2019 FD01 (64-bit) with both ME and CS (using Cvode) options is included. Note that this model requires a Dymola license to execute in your local machine to run.

Generating the FMU under Dymola 2019 FD01 (64-bit)

It is possible to generate an FMU from the Modelica model to provide inputs to x, y and z coordinate changes. Under the 'Test' sub-package, the controlModuleTest_fmu_inputs model can be used. To generate the FMU using Dymola 2019 FD01 (64-bit) under Windows 10, follow the next steps:

1. Open ./A_Modelica/DroneSimulation/package.mo

2. Set as Simulation model the model under DroneSimulation.Examples.DroneWithIdealPowerSystem.DroneTests_FMU

   

3. Go to the Simulation Setup menu Simulation>Setup... and provide the following configurations in the different tabs shown below:

   

   

4. Under the Simulation mode, go to the menu Simulation>Translate>FMU, and provide the following settings on the Export FMU window:

Alternatively, issue the following command under the Commands window of Dymola:

translateModelFMU("DroneSimulation.Tests.controlModuleTest_fmu_inputs", false, "", "2", "all", false, 1); = "DroneSimulation_Tests_controlModuleTest_0fmu_0inputs"

C. Running the in Simulink using FMIKIT

• Install the FMIKit.

• Under the folder ./C_SimulinkWithFMIKit a Simulink model ./drone_model.slx set-up using FMIKit to reproduce the simulation scenario explained above.

• Note that you might need to reload the FMU using the one in the directory ./B_FMI/ as explained above.

• You should obtain the results shown below.

D. Model Visualization

1. Open the models for visualization under DroneSimulation.Examples.Visualization.ModuleTest_SimVis and select it as Simulation model.
2. Go to simulation tab of your tool and change the simulation time to 100s then click simulate button.
3. A window for the DLR SimVis application will open with the drone flying in a desert terrain. The drone can be controlled by the keyboard by default, but it can be reconfigured to control the drone with a joystick.

Contributing

• Via pull requests.

Copyright

(c) Meaghan Podlaski, Hao Chang and Luigi Vanfretti, Rensselaer Polytechnic Institute, Troy, NY.

Licensed under the BSD 3-Clause License.