Skip to content
Snippets Groups Projects
Select Git revision
  • teststand_log
  • nuke
  • yhpatch
  • master default protected
  • develop
  • Lab_Part_1_tag
  • Lab_Part_2_tag
  • 2020-team-final-state
  • team_18-17
  • team_17-16_demo
  • team_17-16_v2
  • team_17-16_v1
12 results
Blame Permalink
ModelingParameters.md 5.71 KiB

Modeling Parameters

This table was moved from a Word document that was last pushed to Git on Feb 5, 2017. If the date listed for "Last Updated" is this, then the actual update date may be before that.

If the same procedure or document is used for multiple consecutive parameters, it is given for the first and listed as "same" for subsequent rows.

Symbol Nominal Value Units Brief Description Last Updated Measurement Procedure
m_q 0.986 kg Quadcopter mass Feb 5, 2017 Measured with a scale
m_b 0.204 kg Battery mass Feb 5, 2017 same
m 1.19 kg Quadcopter + battery mass Feb 5, 2017 same
g 9.81 \frac{m}{s^2} Acceleration of gravity [constant] [constant]
J_{xx} 0.0218 kg\,m^2 Quadrotor + battery moment of inertia around b_x Feb 5, 2017 Measuring Moment of Inertia
J_{yy} 0.0277 kg\,m^2 Quadrotor + battery moment of inertia around b_y Feb 5, 2017 same
J_{zz} 0.0332 kg\,m^2 Quadrotor + battery moment of inertia around b_z Feb 5, 2017 same
J_{\text{req}} 4.2012\times10^{-5} kg\,m^2 Rotor + motor moment of inertia around motor axis of rotation Feb 5, 2017 Measuring Equivalent Moment of Inertia
K_T 8.6519\times10^{-6} \frac{kg\,m}{rad^2} Rotor thrust constant Feb 5, 2017 Measuring Thrust and Drag Constants
K_d 1.0317\times10^{-7} \frac{kg\,m^2}{rad^2} Rotor drag constant Feb 5, 2017 same
K_H \frac{kg}{rad} Rotor in-plane drag constant Feb 5, 2017 Matt's thesis 5.5.3, needs doc
\delta_{T_z} \frac{kg}{rad} Rotor velocity thrust adjustment factor Feb 5, 2017 Matt's thesis 5.5.2, needs doc
\lvert r_{h_x}\rvert 0.16 m x-axis distance from center of mass to a rotor hub Feb 5, 2017 Measure by hand
\lvert r_{h_y}\rvert 0.16 m y-axis distance from center of mass to a rotor hub Feb 5, 2017 same
\lvert r_{h_z}\rvert 0.03 m z-axis distance from center of mass to a rotor hub Feb 5, 2017 same
R_m 0.2308 \Omega Motor resistance Feb 5, 2017 Measuring Motor Resistance
K_Q 96.3422 \frac{A}{N\,m} Motor torque constant Feb 5, 2017 Specified by motor
K_V 96.3422 \frac{rad}{V\,s} Motor back-emf constant Feb 5, 2017 Specified by motor
i_f 0.511 A Motor internal friction (no-load) current Feb 5, 2017 Remove rotor and measure with power supply and ammeter
P_\bot 117000 [none] ESC turn-on duty cycle command Feb 5, 2017 Measuring Thrust and Drag Constants
P_\bot 100000 [none] Minimum Zybo output duty cycle command Feb 5, 2017
P_\top 100000 [none] Maximum Zybo output duty cycle command Feb 5, 2017
\delta_V \frac{V}{s} Approximate constant battery discharge rate Feb 5, 2017 Measuring Battery Discharge Rate
T_C 0.01 s Camera system sampling period Feb 5, 2017
\tau_C s Camera system total latency Feb 5, 2017
  • 0.175 ms single trip latency between camera system and ground station (ping)