Drone Physics
6 hours ago
- #UAV Dynamics
- #Simulation
- #Control Systems
- Drone physics covers modeling a multirotor UAV with six degrees of freedom, using coordinate systems like NED and body-fixed frames.
- Key state variables include position, velocity, orientation (Euler angles), and angular velocity, totaling 12 variables.
- Forces and torques involve thrust from propellers and gravity, with dynamics derived from Newton's laws and the Transport Theorem.
- Linear equations of motion integrate forces to update velocity and position, accounting for rotating frames.
- Angular equations involve moments of inertia and torques from thrust and motor drag to update angular rates and orientation.
- Propellers generate thrust and torque based on rotational speed, modeled with thrust and drag coefficients.
- Motors (BLDC) dynamics relate voltage, current, and torque to propeller acceleration.
- Control systems use allocation matrices to map desired dynamics to propeller speeds, often via PID controllers for reference tracking.
- Higher-level path planning involves trajectory generation respecting vehicle constraints, beyond basic control.