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    Aerial Robotics Lecture 1B - 1 Basic Mechanics

    Uploaded by

    Iain McCulloch
    This document provides an overview of the basic mechanics of how quadrotors work. It explains that a quadrotor has four rotors that generate thrust proportional to the square of their RPM to support the vehicle's weight in equilibrium. It describes how the operating speed of the rotors can be determined from the thrust curve to produce one fourth of the weight, and how motor torque must overcome the drag moment from this speed. Equations are provided relating thrust and drag moment to RPM, and for calculating the resultant force and moment on the quadrotor to determine acceleration.

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    Aerial Robotics Lecture 1B - 1 Basic Mechanics

    Uploaded by

    Iain McCulloch
    416 views4 pages
    This document provides an overview of the basic mechanics of how quadrotors work. It explains that a quadrotor has four rotors that generate thrust proportional to the square of their RPM to support the vehicle's weight in equilibrium. It describes how the operating speed of the rotors can be determined from the thrust curve to produce one fourth of the weight, and how motor torque must overcome the drag moment from this speed. Equations are provided relating thrust and drag moment to RPM, and for calculating the resultant force and moment on the quadrotor to determine acceleration.

    Original Description:

    Lecture notes from the Coursera/University of Pennsylvania Aerial Robotics course

    Original Title

    Aerial Robotics Lecture 1B_1 Basic Mechanics

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    This document provides an overview of the basic mechanics of how quadrotors work. It explains that a quadrotor has four rotors that generate thrust proportional to the square of their RPM to support the vehicle's weight in equilibrium. It describes how the operating speed of the rotors can be determined from the thrust curve to produce one fourth of the weight, and how motor torque must overcome the drag moment from this speed. Equations are provided relating thrust and drag moment to RPM, and for calculating the resultant force and moment on the quadrotor to determine acceleration.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    416 views4 pages

    Aerial Robotics Lecture 1B - 1 Basic Mechanics

    Uploaded by

    Iain McCulloch
    This document provides an overview of the basic mechanics of how quadrotors work. It explains that a quadrotor has four rotors that generate thrust proportional to the square of their RPM to support the vehicle's weight in equilibrium. It describes how the operating speed of the rotors can be determined from the thrust curve to produce one fourth of the weight, and how motor torque must overcome the drag moment from this speed. Equations are provided relating thrust and drag moment to RPM, and for calculating the resultant force and moment on the quadrotor to determine acceleration.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    Lecture 1B.

    Basic Mechanics
    This module is going to explore how quad rotors work. Well look at the basic
    mechanics and draw some conclusions about how to design quad rotors.
    The lectures will cover the following topics:

    Basic mechanics
    Control
    Design considerations
    Agility
    Component selection
    Effects of size

    Let's start with the basic mechanics.


    A quad rotor has four rotors that support the vehicle's weight. Each rotor spins and
    generates the thrust:

    If you plot the thrust, or the thrust force, against the RPMs of the motors or their
    angular velocity, you'll find that the relationship is approximately quadratic. Every
    time a rotor spins, there's also a drag that the rotor has to overcome. That drag
    moment is also quadratic:

    In the case of a quad rotor, every rotor has to support roughly one fourth of the weight
    in equilibrium. So, by looking at the thrust forces vs. rpm curve, you can determine
    the speed that'll be required to produce one fourth the weight. This gives you the
    operating speed, 0.

    Of course, that operating speed produces a drag moment, and every rotor has to
    overcome the drag moment. You have to select the size of the motor, so that they can
    produce the torque needed to overcome this drag moment.
    So when the robot is hovering, the rotor speeds, i, compensate for the weight, mg.
    Using the weight you can determine the basic operating speed for every rotor. And
    that in turn tells you what torque you need to apply at every motor:

    The equations are fairly simple if you assume that you know the constant of
    proportionality between the force and the square of the RPM, kF, and the constant of
    proportionality between the drag moment and the square of the RPM, kM.

    Fi = kFi2
    Mi = kMi2
    The resultant force can be calculated quite easily. It's the sum of the four thrusts and
    the gravity force.

    F = F1 + F2 + F3 + F4 - mg

    Also, if you know where the centre of mass is, you can quickly calculate moments
    about the centre of mass. Then the total moment is obtained by calculating the
    moments due to the forces exerted by the rotors and the reactions due to the rotors
    spinning in counter-clockwise or clockwise directions (these reactions are moments,
    and add to the net moment).
    If the distance from the centre of mass to the motor is ri, and the reaction due to the
    motor is Mi, the resultant moment is given by:

    M = r1F1 + r2F2 + r3F3 + r4F4 + M1 + M2 + M3 + M4


    In equilibrium, the resultant force is obviously zero, and the resulting moment is also
    zero.
    But what happens when the resultant forces and moments are non-zero? In this case,
    youll get a net acceleration.
    To keep things simple let's first consider an acceleration in the vertical direction.
    As we have seen, when every motor thrust is the same, and their sum equals the
    weight of the quadrotor, the vehicle will hover. If you increase the motor speeds, but
    keep all 4 equal, then the robot accelerates upwards. If you decrease the motor speeds,
    keeping them all equal, obviously the robot will accelerate down.
    The combination of motor thrusts and the weight determines which way the robot
    accelerates.
    4

    k
    i 1

    mg ma

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