Sohveibev y Bentkowsky and Kevv 



w nd 



u,v,w = x,y,z components of vehicle velocity 



r,q = components of vehicle angular velocity relative to 

 yaw and pitch axis 



i = distance of propeller from coordinate system origin 



The coefficients of the y and z components of the propeller 

 force and the corresponding moment coefficients can be similarly 

 estimated and are proportional to J^ and Jy, respectively. For the 

 comiputations of the vehicle responses, all six force and moment 

 components have been considered. The resulting propeller force 

 and moment equations are: 



Xprop = 755 n|n| - 58 un - 3. 8 u^ + 26 n (vp^ + wg)'/^ 

 = - 365 n^ - i72un - 45 u^ + 26 n(vp + Wp)'''^ 

 = 755 n^ + 60 un + 22 n^ + 26n(vp^ + Wp)'^^ 

 = - 365 n^ - 13 un + 22 n^ + 26 n(Vp^ + Wp) 



prop 



30 nv, 



12 nvr 



Zprop = - 30 Wp 



= -12 nwr 



u > 0; -> -0.21 



u 



u> 0, ^<-0.21 



u< 0, n > 

 u < 0, n < 

 n > 

 n < 

 n > 

 n < 



prop 



2 2 2. 1/2 • 



= 530 n|n|- 6. 5 un - 4.05 u + 22n(vp + Wp) +13in ; 



u> 0, ^> -0.21 



P 2 2 2 1/2 



= - 468 n - 155 un - 38 u + 22(v + Wp) + 131 n ; 



u> 0, § < -0.21 



1140 



