Quad-Copter : Mathematical Model and its Derivation

Group Members Muhammad Rehan Khan (090872) Saad Waqar (090809) Malik Muhammad Umar Farooq (090755)

Department of Mechanical and Aerospace Engineering(DMAE)

Institute of Avionics and Aeronautics (IAA) Air University Islamabad, Pakistan

Quad-Copter Mathematical Modeling

F=m M=I Above equations are for inertial frame U = Tangential Velocity in body frame V = Tangential Velocity in body frame W = Tangential Velocity in body frame P = Rotational Velocity in body frame Q = Rotational Velocity in body frame R = Rotational Velocity in body frame

= [ ]

= [ ]

[ ]

State Vector
X = [ ] By using newtons law F=m | = So =m | = As F= + [ ] | = | | |

= mg[

[ ] ( So [ ] ( [

] +[ ] )

_[ ]

[ ]

]+ [

] )_[ ]

[ ]

= [

]+

]-[

[ ]=[

So = ..(i)

...(ii)

..(iii)

Linearization of nonlinear Equations

u= + ,

v=

w=

p=

q=

r=

Trigonometric Identity
Cos ( + ) = Coscos Sinsin

Sin ( + ) = Sincos + Cossin

From initial conditions and trigonometric identities

Sin ( Cos (

+ +

) = Sin ) = Cos

= =1

So ( + ( +

=(

g (sin cos = -gsin

+Sin

cos )

So - gsin = -g = -g

..(A)

+ gcos

So =g

.(B)

= (C)