DocumentCode :
3337471
Title :
Modeling of Quadrotor Helicopter Dynamics
Author :
Amir, M. Yasir ; Abbass, Valiuddin
Author_Institution :
Dept. of Electron. & Power Eng., Nat. Univ. of Sci. & Technol., Karachi
fYear :
2008
fDate :
9-11 April 2008
Firstpage :
100
Lastpage :
105
Abstract :
Quadrotor Helicopter or simply quadrotor is rotorcraft that has four lift-generating propellers. Two of the propellers spin clock wise and the other two counter-clockwise. Control of the machine can be achieved by varying relative speed of the propellers. Quadrotor concept is not new, however the modern quadrotors are mostly unmanned. Advancement in miniaturized IMU technology, availability of high speed brushless motors and high power to weight ratio Li-Polymer battery technology, quadrotors can now be successfully designed and fabricated. This paper proposes a mathematical model of quadrotor dynamics. A simplified approach is adopted using momentum theory, where the gyroscopic effect and air friction on frame of machine has been neglected, resulting in a simplified model, which is useful for designing a controller to stabilize the machine in hover state. Proposed model is non-linear since the rotor dynamics are a function of square of motor inputs.
Keywords :
aerospace control; brushless machines; control system synthesis; gyroscopes; helicopters; propellers; rotors; vehicle dynamics; brushless motors; controller designing; four lift-generating propellers; gyroscopic effect; helicopter dynamics; momentum theory; quadrotor; rotorcraft; Availability; Batteries; Brushless DC motors; Clocks; DC motors; Helicopters; Power engineering; Propellers; Vehicle dynamics; Vehicles; dynamics; moment of inertia; pitch; propeller; quadrotor; roll; thrust;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Smart Manufacturing Application, 2008. ICSMA 2008. International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-89-950038-8-6
Electronic_ISBN :
978-89-962150-0-4
Type :
conf
DOI :
10.1109/ICSMA.2008.4505621
Filename :
4505621
Link To Document :
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