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Quadrotor Dynamic Model: Propeller Gyroscopic Effect.

Quadrotor Dynamic Model: Propeller Gyroscopic Effect.

I copied the equations below from the last post, where we see we matched our Bouabdallah paper‘s equations for rotational motion. We know some propeller input is going to be a part of the applied torque. There is going to be a set of equations for linear motion too, but let’s clarify what is going on …

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Simulation Methods: Double Integrator Example

Simulation Methods: Double Integrator Example

In the last post I focused on placing the lead zero for the roll and pitch axes based on the limit imposed by a second double-pole our plant introduces via the motor-propeller, ‘A’ term. I neglected to calculate the proportional gain required for unity-gain crossover at the frequency of maximum phase margin. I also did …

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Quadrotor Control: State-Space Model

Quadrotor Control: State-Space Model

I covered, “PID” (Proportional-Integral-Differential) or, “classical” controller designs for the quadrotor platform in a post last fall…time flies! We really only employ the P and the D elements. The, ‘D’ is the, “lead compensator”. The proportional gain P is the last step and you can see how this design technique is performed in that post. This is …

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