This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The simulator is designed to accelerate these aircraft's modeling and control design. It provides various analyses of the design and operation, such as wrench-set computation, controller response, and flight optimization. In addition to simulating free flight, it can simulate the physical interaction of the aircraft with its environment. The simulator is written in MATLAB to allow rapid prototyping and is capable of generating graphical visualization of the aircraft and the environment in addition to generating the desired plots. It has been used to develop several real-world multirotor and VTOL applications. The source code is available at https://github.com/keipour/aircraft-simulator-matlab.

翻译：本文介绍了ARCAD仿真器，该工具面向无人机系统的快速开发，涵盖欠驱动与全驱动多旋翼、固定翼飞行器以及垂直起降混合机型。仿真器旨在加速此类飞行器的建模与控制设计进程，并提供设计与运行的多维度分析功能，包括力旋量集计算、控制器响应分析及飞行优化等。除模拟自由飞行外，该平台还可仿真飞行器与环境的物理交互过程。仿真器基于MATLAB语言开发以实现快速原型验证，除生成目标数据曲线外，还能实现飞行器及环境的可视化渲染。该平台已被成功应用于多个实际多旋翼与垂直起降系统的开发。源代码开源地址：https://github.com/keipour/aircraft-simulator-matlab