1
00:00:00,270 --> 00:00:01,600
‫And so there you go.

2
00:00:02,190 --> 00:00:08,670
‫We now have our four system inputs that are controller will have to compute.

3
00:00:09,090 --> 00:00:12,840
‫They are you one, you two, you three and you four.

4
00:00:13,020 --> 00:00:21,210
‫You one is a force, a thrust and is measured in Newtons and the other ones are talks or moments.

5
00:00:21,210 --> 00:00:23,970
‫And they are measured in Newton meters.

6
00:00:24,240 --> 00:00:26,280
‫And in global control scheme.

7
00:00:26,730 --> 00:00:28,800
‫It all looks like this.

8
00:00:28,800 --> 00:00:34,740
‫You have your reference values, you have your controller plant that will give you states and outputs

9
00:00:34,980 --> 00:00:39,420
‫that are faring to the controller alongside with reference values.

10
00:00:39,630 --> 00:00:44,250
‫And the controller will give you the four control inputs.

11
00:00:44,550 --> 00:00:51,060
‫And as far as the controller is concerned, the system inputs that enter the plant.

12
00:00:51,060 --> 00:01:02,580
‫Are you one you two, Q3 and Q4 and not the propeller rotational velocities only inside the plant.

13
00:01:02,820 --> 00:01:07,530
‫This is the same block like this one, only inside this plant block.

14
00:01:07,530 --> 00:01:13,160
‫They will be converted into Sigma one, sigma two, sigma three and Sigma four.

15
00:01:13,590 --> 00:01:20,850
‫So if we go one level deeper inside the plant block, then it looks something like this.

16
00:01:21,270 --> 00:01:27,390
‫There are functions inside that block that will convert the system inputs.

17
00:01:27,390 --> 00:01:35,840
‫You want you to Q3 and Q4 into the propeller's rotational velocities sigma one, two, three and four.

18
00:01:36,330 --> 00:01:45,240
‫In other words, the controller finds the forces in moments that are needed to be generated by the propellers

19
00:01:45,240 --> 00:01:49,350
‫in order to move the drone somewhere where you want it to go.

20
00:01:49,950 --> 00:01:58,830
‫And then in the plant you will find the rotation of the last piece of the propellers that you need in

21
00:01:58,830 --> 00:02:04,290
‫order to generate those forces and moments that are found by the controller.

22
00:02:04,740 --> 00:02:06,960
‫So it's like a reverse operation.

23
00:02:07,080 --> 00:02:12,840
‫Normally you would ask yourself, OK, what are the rotation of velocities of the propellers?

24
00:02:13,170 --> 00:02:21,290
‫And then using that information, you can compute the forces and talks that are generated by those propellers.

25
00:02:21,480 --> 00:02:26,040
‫However, now in our case, we do it the other way around.

26
00:02:26,250 --> 00:02:33,390
‫Our controller first finds the forces and moments that the propellers need to generate.

27
00:02:33,720 --> 00:02:41,520
‫And then inside the plant, using inverse operation, you compute the rotational velocities of the propellers

28
00:02:41,820 --> 00:02:48,150
‫needed to generate the forces and talks that the propellers need to generate.

29
00:02:48,150 --> 00:02:57,300
‫And then the other mathematical model itself will take in both the Sigma's and the force and torque

30
00:02:57,300 --> 00:02:58,470
‫control actions.

31
00:02:58,710 --> 00:03:05,730
‫So the equations that we will have here that we will derive later in this course, they will contain

32
00:03:05,970 --> 00:03:09,470
‫all of these variables, the use and the Sigma's.

33
00:03:09,840 --> 00:03:15,630
‫This concludes this section on drone architecture firm control systems point of view.

34
00:03:15,840 --> 00:03:19,590
‫We are now ready to move on to the next section there.

35
00:03:20,160 --> 00:03:28,350
‫We will start building the basis for deriving a universe mathematical open loop plan model.

36
00:03:28,560 --> 00:03:29,700
‫Thank you very much.

37
00:03:29,700 --> 00:03:31,560
‫And I will see you in the next video.