General Approach to Modeling Quadrotor Dynamics Using Newton-Euler Techniques
Michelly Moura1; Joseane Azevedo Dantas1; Alex Sandro de Araújo Silva1; Antônio Ronaldo Gomes Garcia1
1 UFERSA
doi:10.20906/CPS/COB-2015-2051
Resumo
A quadrotor is an Unmanned Aerial vehicle (UAV), which has an X-shaped structure, which the ends have an assembly of engine (or electric motor) and propeller blade. The rotation of this rotor set create lift force and angular momentum. The combination of lift and angular momentum, of the four rotors, could be used to change the attitude of quadrotor, changing pitch, yaw, roll and tridimensional position, due to conservation of momentum and angular momentum. The technological development allowed an advance of the aerodynamic techniques that shows up both the development of these vehicles, but also has its common use in many ordinary applications. This raise a need to develop an UAV, which presents better stability than today UAV models. In turn, made possible through development of dynamic models that describe permanent and transient response of the dynamical system. However, the study of Dynamical Systems is a complex area of many Engineering branches like Control, Mechanical and Mechatronics Engineering. Furthermore, although there are models available in the literature, they are much particularized to a specific variant of the possible Quadrotors types. Thus, there are difficulties in carrying out dynamic modeling quadrotors considering these different variants, using known methods. This is due to poor documentation of mathematical procedures used to obtain the existing models. These factors are responsible for the lack of references that expose the methods used for modeling and became predominant choice for the paper theme. Thus, in order to formulate generalized models, it is proposed to obtain the equations of motion of a quadrotor by means of the Newton-Euler method, whereas, a local coordinate system and other inertial or global. Thus, the relationship of equations of motion with the Euler angles are established. Subsequently, the Taylor series for linearization of the equations of motion and therefore analysis was realized in state space mathematical description. Therefore, this paper presents a guide to
Palavras-chave: Dynamical Modeling; Quadrotor; Newton-Euler method; Space State Mathematical Description