Test No.1 Prepration Flashcards
(18 cards)
What is the basic equation that describes the dynamics of the quadcopter?
x dot = f(x,u)
What is the notation for Position in the navigation frame?
x,y,z
What is the notation for translational velocity in the body frame?
u,v,w
What is the notation for Attitude?
phi, theta, psi
What is the notation for rotational velocity in the body frame?
p,q,r
How do you calculate the effect of forces and moments on a rigid body?
Use Newton and Euler
What parameters are required to describe the motion of a rigid body given the forces and the moments?
Mass, Inertia Tensor J
What are Quadcopter Specific Properties?
Geometry, Atmosphere, Propulsion Model, Rotor Model
What are General Properties For Dynamics if A Rigid Body?
Position Propagation, Attitude Propagation, Newtons Second Law, Eulers Rotation Equation
What is the order of rotation to go from the Navigation Frame to the Body Frame?
- Rotate Phi around z-axis
- Rotate theta around y-axis
- Rotate psi around x-axis
What is psi/theta/phi
Heading/Pitch/Bank Angle
What is RNB?
Transformation matrix from the B-frame to the N-frame.
What do the top/bottom index represent?
Top: The frame to which the property is relative
Bottom: The frame in which the property is represented
In which frame of reference does the Coriolis Effect Arise?
The body frame
What does the Strap-Down Equation give?
The relationship between the time derivative of the Euler Angles and the Angular Velocity
What is Eulers Rotation Equation?
- Application of Newtons Second Law for the Angular Momentum
- Gives the rate of change of angular velocity
What is the equation for the thrust of a rotor?
T_i = k_t * rho * (2r)^4 * (omega_i/60)^2
What is the equation for the torque of a rotor?
Q_i = k_d * rho * (2r)^4 * (omega_i/60)^2
