کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
857155 1470730 2014 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Mathematical Modelling and Parameter Identification of Quadrotor (a survey)
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی (عمومی)
پیش نمایش صفحه اول مقاله
Mathematical Modelling and Parameter Identification of Quadrotor (a survey)
چکیده انگلیسی

The paper focuses on mathematical modelling of a quadrotor and identification of parameters used in presented models. There are several models of the quadrotor that can be used to design a controller. The nonlinear model is presented with respect to the body-fixed frame and also to the inertial frame. The next model is defined in terms of quaternions. The last presented mathematical model is a model near a hover position, where some forces and moments can be neglected. Model parameters can be obtained via experimental identification, calculations or the combination of both ways. These parameters are arm length, total mass of the quadrotor, inertia matrix, friction coefficients, thrust coefficient and drag coefficient. Experimental identification of an actuator usually required the usage of a test bed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Procedia Engineering - Volume 96, 2014, Pages 172-181