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%MDL_QUADCOPTER Dynamic parameters for a quadcopter.
%
% mdl_quadcopter
%
% Script creates the workspace variable quad which describes the
% dynamic characterstics of a quadcopter.
%
% Properties::
%
% This is a structure with the following elements:
%
% J Flyer rotational inertia matrix (3x3)
% h Height of rotors above CoG (1x1)
% d Length of flyer arms (1x1)
% nb Number of blades per rotor (1x1)
% r Rotor radius (1x1)
% c Blade chord (1x1)
% e Flapping hinge offset (1x1)
% Mb Rotor blade mass (1x1)
% Mc Estimated hub clamp mass (1x1)
% ec Blade root clamp displacement (1x1)
% Ib Rotor blade rotational inertia (1x1)
% Ic Estimated root clamp inertia (1x1)
% mb Static blade moment (1x1)
% Ir Total rotor inertia (1x1)
% Ct Non-dim. thrust coefficient (1x1)
% Cq Non-dim. torque coefficient (1x1)
% sigma Rotor solidity ratio (1x1)
% thetat Blade tip angle (1x1)
% theta0 Blade root angle (1x1)
% theta1 Blade twist angle (1x1)
% theta75 3/4 blade angle (1x1)
% thetai Blade ideal root approximation (1x1)
% a Lift slope gradient (1x1)
% A Rotor disc area (1x1)
% gamma Lock number (1x1)
%
%
% References::
% - Design, Construction and Control of a Large Quadrotor micro air vehicle.
% P.Pounds, PhD thesis,
% Australian National University, 2007.
% http://www.eng.yale.edu/pep5/P_Pounds_Thesis_2008.pdf
%
% See also sl_quadcopter.
% Copyright (C) 1993-2011, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Leser General Public License
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
quad.g = 9.81; % g Gravity 1x1
quad.rho = 1.184; % rho Density of air 1x1
quad.muv = 1.5e-5; % muv Viscosity of air 1x1
% Airframe
quad.M = 4; % M Mass 1x1
Ixx = 0.082;
Iyy = 0.082;
Izz = 0.149;%0.160;
quad.J = diag([Ixx Iyy Izz]); % I Flyer rotational inertia matrix 3x3
quad.h = -0.007; % h Height of rotors above CoG 1x1
quad.d = 0.315; % d Length of flyer arms 1x1
%Rotor
quad.nb = 2; % b Number of blades per rotor 1x1
quad.r = 0.165; % r Rotor radius 1x1
quad.c = 0.018; % c Blade chord 1x1
quad.e = 0.0; % e Flapping hinge offset 1x1
quad.Mb = 0.005; % Mb Rotor blade mass 1x1
quad.Mc = 0.010; % Mc Estimated hub clamp mass 1x1
quad.ec = 0.004; % ec Blade root clamp displacement 1x1
quad.Ib = quad.Mb*(quad.r-quad.ec)^2/4 ; % Ib Rotor blade rotational inertia 1x1
quad.Ic = quad.Mc*(quad.ec)^2/4; % Ic Estimated root clamp inertia 1x1
quad.mb = quad.g*(quad.Mc*quad.ec/2+quad.Mb*quad.r/2); % mb Static blade moment 1x1
quad.Ir = quad.nb*(quad.Ib+quad.Ic); % Ir Total rotor inertia 1x1
quad.Ct = 0.0048; % Ct Non-dim. thrust coefficient 1x1
quad.Cq = quad.Ct*sqrt(quad.Ct/2); % Cq Non-dim. torque coefficient 1x1
quad.sigma = quad.c*quad.nb/(pi*quad.r); % sigma Rotor solidity ratio 1x1
quad.thetat = 6.8*(pi/180); % thetat Blade tip angle 1x1
quad.theta0 = 14.6*(pi/180); % theta0 Blade root angle 1x1
quad.theta1 = quad.thetat - quad.theta0; % theta1 Blade twist angle 1x1
quad.theta75 = quad.theta0 + 0.75*quad.theta1;% theta76 3/4 blade angle 1x1
quad.thetai = quad.thetat*(quad.r/quad.e); % thetai Blade ideal root approximation 1x1
quad.a = 5.5; % a Lift slope gradient 1x1
% derived constants
quad.A = pi*quad.r^2; % A Rotor disc area 1x1
quad.gamma = quad.rho*quad.a*quad.c*quad.r^4/(quad.Ib+quad.Ic);% gamma Lock number 1x1
quad.b = quad.Ct*quad.rho*quad.A*quad.r^2; % T = b w^2
quad.k = quad.Cq*quad.rho*quad.A*quad.r^3; % Q = k w^2
quad.verbose = false;