Hello all, As part of a project at school, I have been trying to come up with equations of motion for an aerial platform, so that I may use the equations to design a control system. The issue is that I'm having trouble coupling linear and angular dynamics. Specifically, I need to describe the change in velocities in the body frame, while the body frame is rotating about its origin and moving in a straight line in the inertial frame.
I'll need to write out some math in this E-mail, so I'm going to use Matlab's method of expressing matrix (ie. comma will separate columns, and semicolons will separate rows). >From AIAA papers, I have seen the equation of motions of a body frame expressed in Newton's second law as: F = M V_dot where: M = [m, mOC x ; mOC x, J] V = [V ; omega] where: m is the total mass of the aerial platform OC is the vector from the center of lift to center of gravity J is the inertia matrix V and omega are velocity vector and angular rate vector respectively x is cross product mOC x V_dot is obviously torque about center of lift, but what is mOC x omega_dot? How do I express the change in linear velocity while the body frame is rotating? Ampere ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Flightgear-devel mailing list Flightgear-devel@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/flightgear-devel
