project specification

FFT Gyro

The FFT GYRO system is a safe test bed that helps to understand, develop and implement control laws for flight dynamics of vertical take-off and landing vehicles without putting at risk the equipment. The test bed can be connected to MATLAB / Simulink to accelerate the test and implementation of the algorithms. Thanks to the safe structure, the system can be installed in a classroom or a lab, were students can get a closer look and get a deep understanding of the vehicles dynamics and control.

research platforms - unmanned aerial vehicles (UAVs)

Eureka

Specifications

Height	100	cm
Width	85	cm
Depth	85	cm
Device mass	49	kg
Encoder resolution	0.0879	° (12-bits)
Motor power	15.3	Kg × cm
Plate (roll) mass	745	gr
Inner Gimbal (pitch) mass	827	gr
Outer Gimbal (yaw) mass	524	gr
Roll, pitch and yaw range	360	° (multi-turn)
Multi-rotor compatible sizes	200-500	mm otor to rotor distance
Power	12	V
Communication protocols	USB2.0
	serial port, acquisition speed up to 100 Hz

Overview

The test bed can be connected to MATLAB / Simulink to accelerate the test and implementation of the algorithms. Thanks to the safe structure, the system can be installed in a classroom or a lab, were students can get a closer look and get a deep understanding of the vehicles dynamics and control.

The system is a platform with 3 DOF. A multi-rotor can be attached to a plate, which can hold different types and sizes and align the geometric center to the center of rotation of the FFT GYRO, letting the vehicle move about it’s real geometric center, and not eccentrically.

The structure is designed to allow free rotation about the main axes. The gimbals are equipped with slip rings, so there is no limitation in the rotation of the parts and the connections. The system has three encoders and DC motors (optional). To measure the true roll, pitch and yaw angles of the drone, high-resolution magnetic absolute multi-turn encoders are used. And the DC motors can simulate external forces as disturbances, to perform validations of the robustness for the control laws. The gimbals are made of high-quality carbon fiber, to reduce the inertia that might be added to the system and maintain the properties of a rigid structure.