Amin Talaeizadeh - Sharif University of Technology
Yahya Goodarzi - Sharif University of Technology
Hossein Nejat Pishkenari - Sharif University of Technology
Aria Alasti - Sharif University of Technology

By increasing the application of the unmanned aerial vehicles especially quadcopters in nowadays life, the need for having an accurate and reliable simulator for new researches on these robots is felt more. In last decades, many researchers were focussed on quadcoptersand their applications and they designed a simulator for checking the output of their theories. But still there is not a comprehensive survey on simulating the motion of quadcopter with assuming dynamics and aerodynamics effects an addition to nonlinear equations of motion of quadcopter, simultaneously. This paper is focused on providing a simulator including nonlinear equations of motion of quadcopter, some dynamic effects such as gyroscopic effect of blades, unbalancing and dihedral effects and some aerodynamic effects such as blade flapping and vortex ring state. Finally, for evaluating the accuracy of the simulator, with equal inputs, the outputof simulation is compared with a real quadcopter motion and the results could prove that this simulator has a high accuracy.

Quadcopter, Nonlinear Dynamic Modeling, Simulation, Aerodynamics Effects, Drone Simulator