UAV Dynamics and Electric Power System Modeling and Visualization using Modelica and FMI

This paper presents an object-oriented, equation-based framework for multi-engineering modeling of a quadrotor
UAV, which includes the rigid body dynamics, simplified aerodynamics, gyroscopic effects, electrical power system
and battery losses, and DC motor dynamics. An open-source drone modeling library is introduced by explaining the
mathematical models and multi-domain components used to model the drone. Animation and visualization techniques
for the drone using CAD models are also introduced and explained. The proposed drone model is simulated under
different flight scenarios using motor and power system models with different levels of detail, aiming to provide better
means for design and understanding, of multi-engineering aspects of UAVs. This model provides a foundation for
future UAV open-source model development, electrified power propulsion design, visualization and interaction, and
system identification.