Real Time Project SS 15
Space shortcuts
Page tree
Skip to end of metadata
Go to start of metadata

You are viewing an old version of this page. View the current version.

Compare with Current View Page History

« Previous Version 5 Next »

This is the main model. Quite confusing, isn't it?

Well let's start in the top left corner. In there we find a lot if not all of the important constants (more on that later). To briefly summarize these we have:

  • WeightInG: Self explanatory, the weight in gram
  • Gravity: Self explanatory
  • DistanceRotorMiddle: The distance from the middle of the rotors to the mass centre of the copter
  • DegToRad: A helping constant to convert angles from Degrees to Radians
  • RPM: The revolutions per minute per Volt of the Motors
  • InertiaAA: The rotational inertias around the different axes. I have based these on the work of Luukkonen, who himself based these on the work of Tayebi and McGilvray (http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1430207&tag=1)
  • InertiaA: The movement inertias of the copter. In contrast to the rotational inertia, these inertias are about the movement, not the rotation of the copter (well, duh...). Same as the above
  • InertiaRotation: This is (as far as I know!) the inertia of the rotors. These are also based on the same works
  • DragConstant: This is a constant of the rotors. It describes the drag produced by turning a rotor. It depends on the density of the air, the radius of the blades, their shape and pitch angle, and more. More on the drag constant can be read on wikipedia: https://en.wikipedia.org/wiki/Drag_coefficient
  • LiftCoefficient: Same as the above, but is about the lift produced by a rotor. More can be read on wikipedia: https://en.wikipedia.org/wiki/Lift_coefficient
    • Both of these are again based on the works mentioned above
  • Motors: These are only needed, if you don't use the provided Java program. They set the motors to a value.
  • Yaw/Pitch/Roll: For debugging purposes - Can be changed so you can start with different angles
  • Walls: Simulate the room the copter is in. Distances to the walls from the center in meters
  • Scalings: Different variables to scale the values from the simulation to fit the values the gyroscope of the copter

 

And now for the different parts:

Ptolemy - The Motor and Torques

Acceleration, velocity, position and angular conversions - as in: the dumb part

Calculating the angles

Distances

  • No labels