- #1
Billwaa
- 5
- 0
Hi,
This is not really a homework problem, but a project I'm working on.
So, I am trying to build a Simulink model for my quadcopter.
I derived the equations of motion using the Newtown-Euler method in the body frame to get transnational and angular acceleration.
For the transnational part, I can simply use a rotation matrix to convert the accelerations back into the inertial frame.
But what about the rotational part? Can I use the rotation matrix to get my angular acceleration in inertial frame? If so, how do I obtain the angles inside the rotation matrix since they are in inertia frame to start with I assume...
Can this problem be solved by starting the simulation aligning the Body Frame and Inertial Frame, using all 0 degrees as the initial inertial angle. Then in the next iteration, just use the inertial frame angles solved in the previous iteration?
Thanks,
This is not really a homework problem, but a project I'm working on.
So, I am trying to build a Simulink model for my quadcopter.
I derived the equations of motion using the Newtown-Euler method in the body frame to get transnational and angular acceleration.
For the transnational part, I can simply use a rotation matrix to convert the accelerations back into the inertial frame.
But what about the rotational part? Can I use the rotation matrix to get my angular acceleration in inertial frame? If so, how do I obtain the angles inside the rotation matrix since they are in inertia frame to start with I assume...
Can this problem be solved by starting the simulation aligning the Body Frame and Inertial Frame, using all 0 degrees as the initial inertial angle. Then in the next iteration, just use the inertial frame angles solved in the previous iteration?
Thanks,