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Issue
110, September 1999
Internet
Control
by
Jacob Apkarian
Start
• Model Derivation
• Linearization • Control-System
Design • Simulation
•
Coding •
Configurations•
Implementation •
Tuning and Results •
Ready for Takeoff •
Software
and Sources •
Equations PDF
These equations are then
linearized around the operating point (equation 15). To
derive the quiescent voltage, assume that the body is
hovering so the force generated by the motors and the
body weight should exactly counterbalance the counterweight.
This equation can be written:
Lw mc g =
La (g (mf + mb) + (Vf + Vb) Kf)
Assuming that both motors
are exerting equal forces (Vf = Vb) and
that both motors have the same mass (mf = mb),
the body does not pitch, and we obtain equation 16.
Linearizing the acceleration
equations around the quiescent point (Q) gives
a set of equations of the form shown in equation 17. The
elements of the A and B matrices are automatically
derived and written into a MATLAB script from Maple.
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