Professional Documents
Culture Documents
1 Mechanics
1 Mechanics
● Basic mechanics
● Control
● Design considerations
● Agility
● Component selection
● Effects of size
3
Basic Mechanics
ω3
ω2
ω4
ω1
mg
4
Rotor Physics
M = kM ! 2 F = kF ! 2
torque-speed
motor characteristics
F
τ thrust
M
vs. RPM
thrust drag
force moment
(Newtons) (Newton
drag vs. meters)
RPM
1
W0 = mg
4
ω0
ω
rotor speed (rad/s or RPM)
5
Basic Mechanics (Hover)
Fi = kF !i2
ω3
ω2
ω4
ω1
Motor Speeds
2 1
kF !i = mg
4
Motor Torques mg
⌧i = kM !i2
6
F3
M3
F2
F4
ω3 M2
M4
F1 ω2
r3
a3 b3
b2 r2
ω4 M1
a2
C b1
r4 ω1
a1 r1
Resultant Force
F = F1 + F2 + F3 + F4 mga3
Resultant Moment
M = r1 ⇥ F1 + r2 ⇥ F2 + r3 ⇥ F3 + r4 ⇥ F4
+M1 + M2 + M3 + M4 7
Acceleration
(in the vertical direction)
a
increase motor speeds
motor
thrusts
decrease motor speeds
4
X
kF !i2 + mg = 0
i=1
weight
4
X
kF !i2 + mg = ma
i=1
a