Quadrotor and its Control

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Presentation transcript:

Quadrotor and its Control Lin Zhong ELEC424, Fall 2010

Lighter than air? Yes Motorized? Motorized? Yes Yes Fixed wing? Yes Rotary wing? Yes Balloon, blimp, glider Rotorcrafts Fixed blade pitch? Yes

Highest: 5m. Six bladed rotors De Bothezat Quadrotor, 1923 http://en.wikipedia.org/wiki/De_Bothezat_helicopter

Flight dynamics Roll, pitch and yaw

Earth axes Body axes eN: north eE: east eD: downward (gravity) X: nose forward Y: right of X Z: positive downward

Pitch (θ): X relative to horizon Roll (φ): Y relative to horizon Yaw (ψ): X relative to north