Freyja-Simulator

A high-fidelity physics simulator for multicopter systems, built within MATLAB/Simulink (TM) and SimScape (TM) frameworks.

Freyja has library elements that allow the simulation of dynamics and control for kinematic trees linking multicopters and various other objects (such as cables). Other regular objects, such as solids with various inertia properties, can be easily configured using built-in blocks from Simulink or SimScape.

Usage

1. Create a working directory for your project (myprojectspace), and clone this repository inside.
2. Load the .prj file located within myprojectspace/Freyja-Simulator/. Double-clicking on it within the Matlab file explorer tab should load the project and its components.
3. Go back up to myprojectspace/. Start building your simulation world, add your custom elements and write your Matlab code inside myprojectspace/.

Note: the intended directory structure is such:

../myprojectspace/
......| Freyja-Simulator/
......| myworld1.slx
......| mygloriousfunction.m
......| myglamourousfile

That is, work within myprojectspace/ and don't add custom files within Freyja-Simulator/ (all required project elements are made available at your working project directory level).

Hint: an example world with two multicopters, their controllers, a ground and some reference objects is included as freyja-worlds/basic_worlds.slx. You could quick-start by copying this file outside under myprojectspace/, and renaming it to something else.

Dependencies

• Matlab and Simulink 2018a or later.
• The following toolboxes are required:
  • SimScape, SimScape Multibody
  • Aerospace blockset
  • Robotics System Toolbox
• Following toolboxes might be fun:
  • DSP Toolbox
  • Curve Fitting, Optimization, Global Optimization, Control System Toolbox
  • System Identification, Robust Control, MPC Toolbox. ..* ..

---

(c) Nimbus Lab, University of Nebraska-Lincoln, USA.

---

Credits

Thanks to Dr John-Paul Ore for his initial work on the model design. The block architecture also borrows styles from Dr Peter Corke's Robotics Toolbox.