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Whirlybird Lab

Lab Handbook (updated 9/16/2015)

  • This is the current version of the lab handbook. It will likely be updated/corrected throughout the semester.

The hints on the wiki will also be updated throughout the semester.

The following are example files that you can use to learn how to do animations in Simulink.

Spacecraft with lines

Spacecraft with vertices

Quadrotor animation

Notes on Rotation Matrices from “Robot Dynamics and Control,” by Spong and Vidyasagar, Wiley, 1989.

Video of my whirlybird animation.

Lab 3 - Whirlybird Simulation Model

Lab 6 - Successive Loop Closure using PID

Whirlybird LabVIEW Project Files

LabView Project files needed to communicate to the whirlybird hardware.

Whirlybird Simulation

This is a Simulink simulation where the controller (autopilot.m) is written to be similar to the code that you will need to put in the Labview mathscript node. The controller code is trivial outputting enough force to balance the whirlybird, and zero torque.