Nghiên cứu và chế tạo mô hình máy bay quadrocopter

33 34 35 35 37 37 38 40 40 41 LabVIEW 42 LabVIEW 43 44 44 45 m 45 LabVIEW 45 46 2 47 48 49 49 50 50 50 51 10 52 1 52 2 53 53 4 54 5 55 6 56 7 57 8 57 xi 9 58 20 Brushless motor FC2835-10T 59 21 59 -1060Rx3 2 60 23 ESC HiModel GX-40A 60 4 ESC Hobbywing Pentium 30A 5 61 6 62 7 H 61 62 8 63 64 66 67 67 68 68 68 68 68 69 70 71 71 72 72 73 76 8 2 76 77 78 79 80 81 82 5 83 xii 57 58 -10T 59 HiModel GX-40A 60 A 61 74 75 xiii I. : X m xE Y m yE Z m zE rad rad rad u m/s xB v m/s yB w m/s zB p rad/s xB q rad/s yB r rad/s zB E m E m E m/s2 E rad E rad/s E E E E rad/s2 VE m/s vector v E VB m/s vector B B m/s2 v B B rad/s vector B rad/s2 E - vector v theo - vector v n t c t xiv E N theo FB N theo FGE N B G F N GB ( ) - GH - UB - U1 N U2 Nm U3 Nm U4 Nm B Nm F B moment theo R - T - J - EB - B EH ( ) - H MB - MH - OB ( ) - B OH ( ) - H CB ( ) - CH ( ) - S(... ) - ma tr th ng H rad/s 1 rad/s 2 rad/s 3 rad/s 4 rad/s TMT N TBET uH N xv QBET Nm A kg/s p1 Pa p2 Pa p Pa p- Pa v1 m/s v2 m/s vI m/s v m/s v- m/s vV m/s vH m/s i rad/s P dDBET N/ m dLBET N/ m dFBET N/ m dTBET N/ m dHBET N/m I rad Io rad Itw rad I c rad II. a rad-1 2 A m2 75.5 x 10-3 b N s2 54,2 x 10-6 bBET N s2 54,2 x 10-6 bMT N s2 54,2 x 10-6 c m 0.02 CD - 0.05 CL - 0.05 (lift) xvi t