四旋翼动力学

本篇主要描述四旋翼线性加速度和旋转加速度。

Linear Acceleration of Quadcopter

Linear acceleration of quadcopter can be established according to Newton second law. It’s much easier to use this in the body frame. Let’s begin with force analysis. The force exerted on the quadcopter is simple which incudes four thrust generated by four propellers and gravity. As shown in Fig. 1, the direction of four thrust is along e_z which is the third coordinate axis of body frame and gravity points to the negative direction of e_1 which is the coordinate axis of inertial frame. So the four thrust in the body frame can be written as:

We can transfer this into the inertial frame which is:

So the linear acceleration can be written as:

This equation can also be written as:

If we consider the air resistance, the equation is:

Rotational Acceleration of Quadcopter

Torque equation of flight is:

Where M is the torque produced by the different speed of two rotors, M_gyro is the gyroscopic torque, I is the inertial moment and w is the angular velocity in body frame. As a result, we have:



Where

If we consider the air resistance, the equation is: