LordSimpson
Computer
- Nov 5, 2012
- 1
Hi I'm trying to develop a simulation that can balance an object built out of a set of fixed weights and singular directional force points so as it will hover. (Think VTOL jet or a flying hovercraft)
Currently I have the simulation working but I'm hitting an issue where when the object rotates about its Y axis (yaw) more than +/-60 , rotations appear from no ware in the X and Z axis and then the whole thing rotates wildly in all directions until it manages to rotate into a stable position (inside the +/- 60 degree window).
I'm creating a matrix with each force points coefficients,
For the weight I'm using the Y(vertical) value from the forces direction, and the X and Z for the two planer motions.
Then for the torque I calculate the Torque vector for the force object (Force direction Cross the vector from force position to centre of mass), the X,Y,Z components give me the coefficients for the 3 rotational equations.
This gives me a 6,n matrix with n being the number of force points.
I then solve these with the torque and the movement of the object (weight,0,0).
For the torque's I calculate the required change in angular velocity to reach the required point then multiply it buy the objects moment of inertia for each axis independently.
This is then put through a liner equation solver to give me the force values.
I haven't dealt with this kind of problem for a number of years and cant begin to understand why its having this behaviour after the 60 degree point.
Currently I have the simulation working but I'm hitting an issue where when the object rotates about its Y axis (yaw) more than +/-60 , rotations appear from no ware in the X and Z axis and then the whole thing rotates wildly in all directions until it manages to rotate into a stable position (inside the +/- 60 degree window).
I'm creating a matrix with each force points coefficients,
For the weight I'm using the Y(vertical) value from the forces direction, and the X and Z for the two planer motions.
Then for the torque I calculate the Torque vector for the force object (Force direction Cross the vector from force position to centre of mass), the X,Y,Z components give me the coefficients for the 3 rotational equations.
This gives me a 6,n matrix with n being the number of force points.
I then solve these with the torque and the movement of the object (weight,0,0).
For the torque's I calculate the required change in angular velocity to reach the required point then multiply it buy the objects moment of inertia for each axis independently.
This is then put through a liner equation solver to give me the force values.
I haven't dealt with this kind of problem for a number of years and cant begin to understand why its having this behaviour after the 60 degree point.
