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Goals: Basic Mechanics

The document discusses the goals, basic mechanics, and rotor physics of quadcopter design. It aims to cover basic mechanics, control, design considerations, agility, component selection, and the effects of size. The basic mechanics section explains how motor speeds and torques relate to thrust forces and drag moments. It also shows equations for resultant force and moment based on individual motor contributions.

Uploaded by

David Donoso
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We take content rights seriously. If you suspect this is your content, claim it here.
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19 views6 pages

Goals: Basic Mechanics

The document discusses the goals, basic mechanics, and rotor physics of quadcopter design. It aims to cover basic mechanics, control, design considerations, agility, component selection, and the effects of size. The basic mechanics section explains how motor speeds and torques relate to thrust forces and drag moments. It also shows equations for resultant force and moment based on individual motor contributions.

Uploaded by

David Donoso
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Goals

Basic mechanics

Control

Design considerations

Agility

Component selection

Effects of size

3
Basic Mechanics

3
2
4

mg

4
Rotor Physics
M = kM ! 2 F = kF ! 2
torque-speed
motor characteristics

F
thrust
M
vs. RPM
thrust drag
force moment
(Newtons) (Newton
drag vs. meters)
RPM

1
W0 = mg
4


rotor speed (rad/s or RPM)
5
Basic Mechanics (Hover)
Fi = kF !i2

3
2
4

1
Motor Speeds
2 1
kF !i = mg
4
Motor Torques mg
i = kM !i2
6
F3

M3
F2

F4
3 M2
M4
F1 2
r3
a3 b3
b2 r2
4 M1
a2
C b1
r4 1
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

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