Modelling and Simulation of Fire Extinguishing Quadcopter

Abstract

The modelling and simulation of a firefighting quadcopter with a 200 kg payload capacity are presented in this study. The main goal is to ensure the quadcopter's stability and efficiency in delivering fire suppression fluids to designated locations. The quadcopter uses control systems to maintain stability and manoeuvrability while handling a considerable weight. It is fitted with massive propellers and high-thrust motors. The dynamic equations are used to control the quadcopter's motion while considering the substantial payload in the modelling phase. The transformation matrix, body matrix, and various coefficients, such as thrust and drag coefficients, are meticulously calculated to represent the quadcopter's physical characteristics accurately. Moments of inertia are derived based on the mass distribution, ensuring realistic simulation results. The control system, featuring PID controllers for roll, pitch, yaw, and vertical speed (zdot), is designed and tuned to achieve optimal performance. Initial PID values are provided and iteratively refined through simulation to meet the stability and responsiveness requirements. The behaviour of the quadcopter in various scenarios, such as roll, pitch, yaw, and vertical speed (dot) while carrying the payload, is simulated using MATLAB. The outcomes show that the quadcopter can operate steadily and precisely at the pitch (θ) angle of K<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</inf> 4,5; for the Ti and Tp, it was 0.01 and 2.5 degrees, respectively, with an upward thrust velocity of 5.0, 0.02, and 3.0 in (m/s) for the K<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</inf>, T<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i</inf>, and T<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">p</inf>, which is essential for fighting fires. This study provides a comprehensive framework for developing high-payload drones for emergency response applications.