- #1
steinc
- 1
- 0
Hi all,
I'm working on a project to control the angles of a beam(purple) with a quadcopter(orange),see figure below. The angles for both the ground-beam and beam-quadcopter will be measured with joysticks, so only roll and pitch angles will be measured and the yaw rotation is fixed.
To obtain the equation of motion of this system I started with the method of Lagrange:
L = T-V.
With T the kinetic energy: ½mvTv + ½wTIw
and V the potential energy: mgz
and this for both the beam and the quadcopter.
I started with the roll-pitch-yaw rotation matrices (so rotation around the fixed axes) but I do not know how to get the angular speed out of them.
So my first question is how to find the angular speeds for roll-pitch-yaw angles and my second question is how to obtain the v and the the w in de body frames (that's the easiest for the moment of inertia I think)?Thanks
I'm working on a project to control the angles of a beam(purple) with a quadcopter(orange),see figure below. The angles for both the ground-beam and beam-quadcopter will be measured with joysticks, so only roll and pitch angles will be measured and the yaw rotation is fixed.
To obtain the equation of motion of this system I started with the method of Lagrange:
L = T-V.
With T the kinetic energy: ½mvTv + ½wTIw
and V the potential energy: mgz
and this for both the beam and the quadcopter.
I started with the roll-pitch-yaw rotation matrices (so rotation around the fixed axes) but I do not know how to get the angular speed out of them.
So my first question is how to find the angular speeds for roll-pitch-yaw angles and my second question is how to obtain the v and the the w in de body frames (that's the easiest for the moment of inertia I think)?Thanks