New simulation software to aid PID research and development
Posted: Tue Jul 29, 2014 11:58 pm
I was planning to play around with some PID algorithms. But I could not find a simulator fitting my needs. Thus I created one. It is not finished, but it is in a state that it might be useful for someone else.
I'm not a physicist and primarily relying on the physics I learned long ago in high school. I would very much appreciate reviews of the code by anyone.(it is just 200 or 300 lines of code)
https://github.com/yschaeff/quadsim
What is it and why?
This is a multirotor physics simulator specifically designed to help
in development and research of PID controllers. It has been kept as
simple as possible to make the code accessible for others as well.
Almost all calculations are made in 3D, it should be relatively easy to
switch to a 3D gui at a later time. Currently a two
rotor craft is simulated, adding more rotors should be trivial.
Features
* (should have) accurate physics
* accessible code
* aircraft steerable
* reasonable drag model
* motors do not respond infinitely fast
Missing features
* Sensors (with jitter and max update frequency)
* propellers are not modelled.
* Yaw (motors generate no toque along their shaft)
* controller should not run every simulation step
Usage
python quadsim.py
Then use arrowkeys to steer the aircraft and spacebar to reset motion
You will additionally need numpy and pygame packages
I'm not a physicist and primarily relying on the physics I learned long ago in high school. I would very much appreciate reviews of the code by anyone.(it is just 200 or 300 lines of code)
https://github.com/yschaeff/quadsim
What is it and why?
This is a multirotor physics simulator specifically designed to help
in development and research of PID controllers. It has been kept as
simple as possible to make the code accessible for others as well.
Almost all calculations are made in 3D, it should be relatively easy to
switch to a 3D gui at a later time. Currently a two
rotor craft is simulated, adding more rotors should be trivial.
Features
* (should have) accurate physics
* accessible code
* aircraft steerable
* reasonable drag model
* motors do not respond infinitely fast
Missing features
* Sensors (with jitter and max update frequency)
* propellers are not modelled.
* Yaw (motors generate no toque along their shaft)
* controller should not run every simulation step
Usage
python quadsim.py
Then use arrowkeys to steer the aircraft and spacebar to reset motion
You will additionally need numpy and pygame packages