Goals

Basic mechanics

Control

Design considerations

Agility

Component selection

Effects of size

3
 Basic Mechanics

3
2
4

mg

4
 Rotor Physics
M = kM ! 2 F = kF ! 2
torque-speed
motor characteristics

F
thrust
M
vs. RPM
thrust drag
force moment
(Newtons) (Newton
drag vs. meters)
RPM

1
W0 = mg
4

rotor speed (rad/s or RPM)
5
 Basic Mechanics (Hover)
Fi = kF !i2

3
2
4

1
Motor Speeds
2 1
kF !i = mg
4
Motor Torques mg
i = kM !i2
6
 F3

M3
F2

F4
3 M2
M4
F1 2
r3
a3 b3
b2 r2
4 M1
a2
C b1
r4 1
a1 r1
Resultant Force
F = F1 + F2 + F3 + F4 mga3
Resultant Moment
M = r1 F1 + r2 F2 + r3 F3 + r4 F4
+M1 + M2 + M3 + M4 7
 Acceleration
(in the vertical direction)
a
increase motor speeds

motor
thrusts
decrease motor speeds
4
X
kF !i2 + mg = 0
i=1
weight
4
X
kF !i2 + mg = ma
i=1
a