|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|
|serial port, acquisition speed up to 100 Hz|
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.
Describes the project, it's applications, and has more specifications.