‫Welcome back.
‫So let's go through this small exercise, then the units for our trust factor, C, t.
‫It would have the units of Knewton times 2nd squared and then the torque factor would have the units
‫of.
‫Newton Meter and second squared.
‫And it makes sense, right?
‫So if you take your trust factor C.T. and then you multiply it by an Omega squared, then what you will
‫get is a thrust force and a thrust force.
‫Like all other forces, they have a unit of mutants.
‫And so here you would have Newton's times second squared, which is this one here, times radians squared
‫over, second squared because the units formiga are radians over second.
‫Like this, and then if you square them, then it will be radion squared over second squared and then
‫your second squared will cancel out and you're left with Newton.
‫Now, remember this radiance?
‫It's a dimensionless quantity.
‫Radiance come from a circle where you have a circumference which is in meters, and then you have a
‫diameter, which is also in meters.
‫And so, for example, the circumference of a circle divided by the diameter of the circle would give
‫you pi radiance like this.
‫But that means that in terms of units, the circumference and then the diameter, you would be dividing
‫meters by meters which would cancel out and therefore your radiance is in fact dimensionless.
‫So the other way to look at it is like this radiant squared would be meters squared, over meters squared.
‫That will also cancel out.
‫And you're left with Newton's.
‫And so now if we take this talk factor, CQ, and we multiplied by some kind of Omega squared, then
‫we will get some kind of moment or some kind of talk, and then the units here would be Knewton times
‫meters.
‫And so you would have Knewton times, Meaders times 2nd squared.
‫That's from here.
‫And then times you would have again radians squared over second squared and now you will cancel out
‫the seconds squared and you are left with Knewton times meter.
‫OK, but now you have these equations here and you can compute your use if you know your omega's.
‫However, if you remember then we really wanted the opposite thing.
‫The controller gives you your control inputs.
‫You one, you two, you three and you four.
‫And then we need to use these control inputs to get our omega's.
‫So that means that we have to.
‫Invert this system of equations and we need to express our omega one, omega to omega three and omega
‫four in terms of you want you to Q3 and Q4 and that will be your final exercise in this section.
‫Tried to find this set of equations where you have your omega one, omega two, omega three and Omega
‫four, and then you will have these four equations here and they will contain all these control inputs.
‫What would it be?
‫Thank you very much and see you in the next video.