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Key physical parameters of UAV model.
| Parameter symbols | Parameter description | Value and unit |
|---|---|---|
 |
The mass of UAV | 1.2 kg |
 |
Inertia of rotation around the X and Y axes | 0.015 kg·m2 |
 |
Inertia of rotation around the Z-axis | 0.028 kg·m2 |
 |
Arm length | 0.2 m |
 |
Rotor lift coefficient | 5.5e-6 N/(rad/s)2 |
 |
Rotor torque coefficient | 1.2e-7 N·m/(rad/s)2 |
 |
Gravitational acceleration | 9.81 m/s2 |
 |
The maximum speed of motor | 1200 rad/s |
