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Question: a flying robot can fly in the vertical plane propelleri...

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A Flying robot can fly in the vertical plane. Propeller-I has extra freedom and can change its direction, but another propeller is fixed to the body. The control parameters are cup,a, 2 and δ as shown in the below figure. Here xb zb and x z are body and inertial coordinate systems respectively. The parameters of the Robot are given as: T2 = 0.025(apa), m= 0.5 kg, 0.1 m2, ,-0.4 kgm2 7, = 0.02(m)2, g-10s 11-0.3m L2-0.35m, ca = 0.05. p 1.27m3 .S kg / Write down the transformation matrix from the body to the inertial frame (there one simple rotation about y axis with rotation angle 0). a) b) Find the total force and total moments in boy frame c) Write down the equations of motion in state space form y 7,0, ?, , , d) Find the trim point to have hovering flight (zi-constant, x.-constant, θ 0) e) Find the control parameters to have a flight with constant velocity (0.1 m/s) in the horizontal plane. m/s,0-0) (G Find the control parameters to have a flight with zero velocity in the horizontal plane, and with a vertica acceleration 1m/see2- (thconstant,0.1 m/s,00) constant, i.- 0.1 # v: v# D Ti Li
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