# Modelling thrust on quadcopter in simulink

I want to model aerodynamic forces such as thrust on all motors of quadcopter in simulink.But equations for thrust involves density of air , but then we have to include model air in simulink . So what would be the way to model thrust forces on quadcopter .

I made the control design using PID controllers for Height , Roll , Pitch and Yaw for getting $$\begin{bmatrix} U_1 & U_2 & U_3 & U_4 \\ \end{bmatrix}$$ control input vector . Using the equation : $$\begin{bmatrix} U_1 \\ U_2 \\ U_3 \\ U_4 \\ \end{bmatrix} =\begin{bmatrix} K_T & K_T & K_T & K_T\\ 0 & -K_T & 0 & K_T\\ K_T & 0 & -K_T & 0\\ K_H & -K_H & K_H & -K_H\\ \end{bmatrix} \begin{bmatrix} \omega_1^2\\ \omega_2^2\\ \omega_3^2\\ \omega_4^2\\ \end{bmatrix}$$

We get values for $$\begin{bmatrix} \omega_1^2 & \omega_2^2 & \omega_3^2 & \omega_4^2 \\ \end{bmatrix}$$ by multyiplying $$\begin{bmatrix} U \\ \end{bmatrix}$$ with inverse matrix [C] .

Now how should I model thrust force using calculated values of $${\omega^2}$$. Given values of thrust are $$T = K_T . \omega^2 .$$ and hub torque $$T = K_H . \omega^2$$ . Where Kt and Kh are 0.82 × 10^−5 and 1.4 × 10^−7 .

• Welcome. Please clarify, what is your actual question? Commented Dec 25, 2023 at 22:40
• To clarify , after getting values of $\omega^2$ , which blocks should be used to model thrust force on quadcopter that lifts it up . Commented Dec 26, 2023 at 6:26