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| The operating principle of the quadrirotor |
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The operation of a quadrirotor is quite particular. There are 4 possible movements: gases, yaw, pitch and roll. The UAV will be equipped with propellers 4. To retain control of the yaw, this implies that 2 propellers rotate in a clockwise direction (normal pitch) and the other 2 in the counterclockwise (inverted pitch).
Here is the description of possible movements:
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The Gas
The movement of gas is simply the ascent / descent of quadrirotor. The increase is achieved by increasing the speed of 4 engines. The descent whom it is more difficult to measure is achieved by reducing the speed of the engines.
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The Lacet
The yaw will serve us to turn their quadrirotor on himself. It is obtained by increasing the speed of pitch and decreasing normal proportionnelement speed pitch reversed.
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The Roll and pitch
The rolling and pitching movements are fairly similar. This is the look quadrirotor on an axis or another. This movement is obtained by increasing the speed of a propeller proportionnelement and lowering the speed of the impeller opposed (propeller of the same couple).
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The quadrirotor is unstable, movements yaw, pitch and roll will be corrected by the mail. That is why the platinum-mail will be equipped with gyroscopes 3 (one for each axis) which are intended to detect angular variation of the UAV and thus send the orders to restabiliser engines to the aircraft.
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Thank youheli4.comfor the illustrations
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