Study on Motion Mathematical Model of Four Rotor UAV

Abstract

Four rotor UAV has the characteristics of small volume, simple construction, light weight, low cost and good invisibility. It can be adapted to multi-platform and multi-dimensional environment. It has the lower flight height and the very good mobility. It can have the flexible rising and landing on a relatively small platform. It doesn’t need the ejection device, launcher and other auxiliary devices. Based on its many advantages, it has very broad application prospects both in military and civil fields. We mainly take the four rotor UAV as the research object to establish the kinematic and dynamic mathematical model of four rotor UAV and give the definition of usual coordinates for four rotor UAV, and then give the conversion relations of all vectors for four rotor UAV in inertial frame and body frame in the paper. We adopt Newton euler method to obtain the rigid body dynamic equations of four rotor UAV model in the paper. We further analyze all kinds of forces and moments which act on the four rotor UAV in details again in the paper. We deduce the complete expression of overall mathematical model for four rotor UAV and make it be simplified in the paper.