Dismiss Notice
Join Physics Forums Today!
The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

Linearizing a 2-D quadrotor dynamic model

  1. Mar 28, 2017 #1
    Hi all!

    I am taking an online course on aerial robotics and am currently on the topic of linearizing a 2-D quadrotor dynamic model. See slide (link below):

    5dUD5LB.png

    The equations under "linearized dynamics" are derived using the equilibrium hover configuration (e.g. y = y0, z = z0, Φ0 = 0, u1,0 = mg, u2,0 = 0) and the fact that at hover, sin(Φ) ~ Φ and cos(Φ) ~ 1.

    So, linearized

    y_ddot = (-u1/m)*sin(Φ) = (-mg/m)*Φ = -gΦ

    This makes sense to me. But how come z_ddot isn't 0? and Φ_ddot isn't 0? Shouldn't

    z_ddot = -g + (mg)/m*(1) = 0?
    Φ_ddot = (0)/I_xx = 0?

    Thank you!
     
  2. jcsd
  3. Apr 3, 2017 #2
    Thanks for the thread! This is an automated courtesy bump. Sorry you aren't generating responses at the moment. Do you have any further information, come to any new conclusions or is it possible to reword the post? The more details the better.
     
Know someone interested in this topic? Share this thread via Reddit, Google+, Twitter, or Facebook

Have something to add?
Draft saved Draft deleted



Similar Discussions: Linearizing a 2-D quadrotor dynamic model
  1. Simple Dynamic Model (Replies: 3)

Loading...