Updated thrust and drag constant scripts, data, and associated model parameters

controls/MATLAB/thrustAndDragConstant/calcDragConstant.m

@@ -36,6 +36,7 @@ rotor_speed_3 = data.(5) * (pi/30);
 % b: Defined in section 5.5.4.1
 % Kd_vector: Vector containing all experimental Kd values
 % Vb: Battery voltage
+
 u1 = ((data.(1)) - Pmin)/(Pmax - Pmin);
 u2 = ((data.(1)) - Pmin)/(Pmax - Pmin);
 u3 = ((data.(1)) - Pmin)/(Pmax - Pmin);

controls/model/modelParameters.m

@@ -5,9 +5,13 @@
     Jyy = 0.0277;                   % Quadrotor and battery motor of inertia around by (roll)
     Jzz = 0.0332;                   % Quadrotor and battery motor of inertia around bz (yaw)
     Jreq = 4.2012e-05;              % Rotor and motor moment of inertia around axis of rotation
-    Kt = 8.1558*10^-6;              % Rotor thrust constant
+    %Kt = 8.1558*10^-6;              % Rotor thrust constant
+    Kt = 8.6519e-6;
     Kh = 0;                         % Rotor in-plane drag constant
-    Kd = 1.8087e-07;                % Rotor drag constant
+    %Kd = 1.8087e-07;               % Rotor drag constant
+    %Kd = 1.7473e-07;
+    %Kd = 1.0327e-6;                 % Kd value without rotor 3
+    Kd = 1.0317e-6;
     rhx = 0.016;                    % X-axis distance from center of mass to a rotor hub
     rhy = 0.016;                    % Y-axis distance from center of mass to a rotor hub
     rhz = 0.003;                    % Z-axis distance from center of mass to a rotor hub
@@ -15,18 +19,20 @@
     Kq = 96.3422;                   % Motor torque constant
     Kv = 96.3422;                   % Motor back emf constant
     If = 0.511;                     % Motor internal friction current
-    Pmin = 0.40;                    % Minimum zybo output duty cycle command
-    Pmax = 0.80;                    % Maximum zybo output duty cycle command
+    %Pmin = 0.40;                   % Minimum zybo output duty cycle command
+    %Pmax = 0.80;                   % Maximum zybo output duty cycle command
+    Pmin = 1e5;                     % Minimum zybo output duty cycle command
+    Pmax = 2e5;                     % Maximum zybo output duty cycle command
     Tc = 0.01;                      % Camera system sampling period
     tau_c = 0;                      % Camera system total latency
     Vb = 11.1;                      % Nominal battery voltage (V)
-    omega_o = 598.088;              % Equilibrium Rotor Speed
     x_controlled_o = 0;             % Equilibrium lateral controller output
     y_controlled_o = 0;             % Equilibrium longitudinal controller output
     yaw_controlled_o = 0;           % Equilibrium yaw controller output
+    omega_o = sqrt((m*g)/(4*Kt));   % Equilibrium Rotor Speed
     
     % Equilibrium height controller output
     height_controlled_o = (((Rm*If + ...
     + (((omega_o * 2 * Rm * Kv * Kq  ...
     * Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
-    *Kd))/Vb)*(Pmax- Pmin)+Pmin)*100;     
+    *Kd))/Vb)*(Pmax- Pmin)+Pmin);
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