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# mdl_quadrotor

Dynamic parameters for a quadrotor.

MDL_QUADCOPTER is a script creates the workspace variable quad which describes the dynamic characterstics of a quadrotor flying robot.

## Properties

This is a structure with the following elements:

nrotors | Number of rotors (1x1)
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)

## Notes

- SI units are used.

## 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
- This is a heavy lift quadrotor

## See also

sl_quadrotor

© 1990-2014 Peter Corke.