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In this video we dive into creating a mathematical model of a quadcopter. We start by first explaining how a quadcopter moves. From there we link how the motor motion causes the quadcopter to move in very specific ways. By understanding how the motors help the quadcopter move, we then try to understand how the whole system fits together using a block diagram.
By understanding the feedback mechanism using sensors and how we want to match the user inputs with that of the quadcopters orientation, we need a controller that can control the motors precisely. For the controller to control the motors precisely it needs to have some understanding of how the quadcpter behaves.
This leads us into figuring out how to mathematically model the quadcopter. We talk about the different forces and measurements one can do to get a basic understanding of the quadcopter. Things like the propellers used, the weight, the center of gravity, the configuration of the quadcopter (X type or + type), motor speed and limits and various other parameters. We then try explain the two types of equations one can have to represent a dynamic system.
Transfer function model and state space model.
Transfer function model is best suited for single input and single output (SISO). A state space model is suited for multiple input and multiple output model (MIMO). Each one has its own merits and cons.
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