Nonlinear Motion Equation for Tilting Duct Vehicle in Considering Rotation of Ducts

Convention (Right-handed)

jb

ib r

jb

kb kd
2 Notations 2.1 Parameters(MKS system of units)

kb

m dT J xxf

Tilting angle Mass PWM duty ratio(DR) Moment of inertia of a fan Atmospheric density Drag Coefficient about COM of the vehicle COM of a duct assembly Cross-sectional area of the vehicle about Back-EMF Constant Fan thrust to Fan torque to

C Dx

x -direction

G Gd Sx
K Ke

x -axis

Motor torque to DR(Duty Ratio) coefficient

CT
CQ
p

f 2 f
2

ratio ratio

Position vector, [ x

z]

v
r b /i b

Velocity vector, [u Position vector

v w]

Angular velocity of a vehicle w.r.t. the inertia frame, [ p

q r]

b / i b

0 -r q 0 - p , ib / i = Ci / b b / i Cb / i Cross-Product Matrix, r b -q p 0 T Euler-angle vector, [ ]

Angular velocity of a fan Rotation Matrix Force Gravity Inertia Tensor Moment Torque Thrust

C
F G J M Q
T
2.2 Indices

i b d f

Inertial reference frame Vehicle body frame Duct Fan Actuator Aerodynamic drag Position vector of point A with respect to point B Velocity of point A in frame i Components in coordinate system

act ad p A/ B v A/ i
b

c A/ i

c of the derivative in frame b a to b .

T -1 b/a

Cb / a

Matrix that transforms the components from system

C are orthogonal matrices Cb / a = C

= Ca /b

Euler Angles, NED Navigation System, and Duct Tilting Angle 3.1 Euler Rotations

1 0 0 c 0 -s c Cb / i = C C C = 0 c s 0 1 0 -s 0 -s c s 0 c 0 ( c , s : abbreviations for cos , sin each.)

3.2 NED Navigation System Orientation follows NED system. 3.3 Duct Tilting Angle

s c 0

0 0 1

c 0 -s Cd / b = C = 0 1 0 s 0 c
4 Transport Theorem

d = d + = d + b b/i b/i dt i dt b dt b
5 Assumption 5.1 5.2 5.3 The fans are symmetric in form about

zd -axis. J xxf = J yyf .

All the axes about which the ducts rotate lie on COM of each duct fan assembly. COM of each fan assembly are coincident with COM of its duct.

Kinematics 6.1 Angular Motion 6.1.1 Angular Momentum h .

h=

J bb / i + {(md + m f ) rk vb / i ,k + J d d / i ,k + J f df / i ,k } b Gd d
k

Where

b Gd / i , k

= v b / i + b / i rk G b
T

d d / i , k = ( d / b ,k + b / i , k ) = b / b , k + Cd / b ,k b / i d d d b d b / b = [ 0 0] , d / b = Cd / b b / b = [ 0 0] = b / b d d d T

df / d = 0 0 - f rk vbG /i = 0 by symmetry.
T k

hb = J b b / i + (md + m f ) {rk (b / i rk )} b b
k

+ Cb / d ,k {(J d + J f )(b / b , k + Cd / b ,k b / i ) + J zzf df / d ,k } d b

k

6.1.2 Effective Moment

b G

b = i h b = b h b + b / i h b

6.1.3 Euler Kinematic Equation

b b/i

0 0 + C + C = 0 0

0 0 = H ()-1

6.2

Translational Motion 6.2.1 Acceleration

i b b b b vG /i = b vG /i + b/i vG /i

6.2.2 Effective Force

F
i

b = m i vG /i

6.2.3 Position
b i p G / O = Ci / b v G / i

6.3

State Vector

x = p G / O T

b vG /iT

b b / i T

Dynamics 7.1 Moment 7.1.1 Aerodynamic Drag

M ad = - Cx p p

Cy q q

Cz r r

7.1.2 Fan Torque and Thrust

Q df = 0 0 CQ 2 , k , r b Tb where T d = - 0 0 CT 2 , k f f
T

7.1.3 Total Moment

M
7.2 Force

b G

= {rkb (Cb / d , k Tkd ) + Cb / d , k Q d } + M ad k

7.2.1 Aerodynamic Drag

CDx u u S x 1 Fad = - CDy v v S y 2 C w w S Dz z

7.2.2 Thrust and Gravity

Tb , G i = [ 0 0 g ]
7.2.3 Total Force

F
7.3

= Cb / d , k Tkd + mCb / i G i + Fad

k

DC Motor System

J zzf f =

Km K K u - m e f - CQ 2 for low motor inductance ( L 1) . f R R

7.4

Servo System

d d (hbd + hbf )y = dt Cb/ d dt J act = K t u - b - act

{(J

+ J f ) d / b + Cd / b [0 q 0] + J zzf f d
T

} =
y

act