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ece6554:project_planarheli [2023/04/12 10:25] – classesece6554:project_planarheli [2023/04/12 10:26] (current) – classes
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 \end{equation} \end{equation}
 where the force vector $f$ is in the body frame of the ducted fan, generated from the two fans' thrust.  Each coordinate of $f \in \mathbb{R}^2$ can be independently controlled (but can never really go negative due to the nature of the fan blades used). where the force vector $f$ is in the body frame of the ducted fan, generated from the two fans' thrust.  Each coordinate of $f \in \mathbb{R}^2$ can be independently controlled (but can never really go negative due to the nature of the fan blades used).
-Though not used explicitly in the equation above, let $R$ be a planar rotation matrix for which $e_2$ is the vector generated from the second column of the rotation matrix,+Regarding the functions of $\theta$ used in the equations of motion, $R$ is a planar rotation matrix for which $e_2$ is the vector generated from the second column of the rotation matrix,
 \begin{equation} \begin{equation}
   R(\theta) = \left[ \begin{matrix} \cos(\theta) & -\sin(\theta) \\ \sin(\theta) & \cos(\theta) \end{matrix}  \right]   R(\theta) = \left[ \begin{matrix} \cos(\theta) & -\sin(\theta) \\ \sin(\theta) & \cos(\theta) \end{matrix}  \right]
ece6554/project_planarheli.1681309521.txt.gz · Last modified: 2023/04/12 10:25 by classes