Modeling and simulation of JetQuad aerial robot

The robotic industry, particularly the aerial robot corporations, is constantly developing. Nowadays, the application of aerial robots in cases such as package delivery and fast medical response markets is noticeable. JetQuad is a type of aerial robot, powered by four small jet engines. This is basically the Quadcopter whose four electric motors are replaced by four jet engines. Accordingly, modeling the complicated mechatronic system of the JetQuad to improve its performance is of significant importance. In this paper, modeling and simulation of the JetQuad motion using the bond graph approach are studied. The bond graph approach is an effective method for modeling mechatronic systems. On this account, modeling the JetQuad propulsion system (small jet engine) is carried out foremost. Then, the results of engine model simulation are compared to those of the experimental test. This comparison shows the acceptable accuracy of the simulation results. Next, the JetQuad body is modelled. Finally, by combining the models of the jet engine and body, the final model of JetQuad is obtained. Furthermore, the simulation of JetQuad model is carried out for two controlled and uncontrolled cases, followed by analyzing the results. The developed JetQuad model in this paper can be considered as the basis for the development of advanced control systems and diagnostic tools.