System Parameters - Quanser Aero User Manual

• Marked degree of protection to IEC 60529: Ordinary Equipment (IPX0)

2.4 System Parameters

Table 2.2 lists and characterizes the main parameters associated with the Quanser Aero.
Symbol
DC Motor
V
nom
τ
nom
ω
nom
I
nom
R
m
k
t
k
m
J
m
L
m
Aero Body
M
b
D
m
J
p
J
y
D
t
Motor and Pitch Encoders
Yaw Encoder
Amplifier
QUANSER AERO User Manual
Description
Nominal input voltage
Nominal torque
Nominal speed
Nominal current
Terminal resistance
Torque constant
Motor back-emf constant
Rotor inertia
Rotor inductance
Mass of body
Center of mass
Pitch inertia
Yaw inertia
Thrust displacement
Encoder line count
Encoder line count in quadrature
Encoder resolution (in quadrature)
Encoder line count
Encoder line count in quadrature
Encoder resolution (in quadrature)
Amplifier type
Peak Current
Continuous Current
Output voltage range (recommended)
Output voltage range (maximum)
Table 2.2: Quanser Aero System Parameters
Value
18.0 V
22.0 mN-m
3050 RPM
0.540 A
8.4 Ω
0.042 N-m/A
0.042 V/(rad/s)
4.0 × 10
6 2
kg-m
1.16 mH
1.075 kg
-7.59 mm
2.15 × 10
2 2
kg-m
2.37 × 10
2 2
kg-m
15.8 cm
512 lines/rev
2048 lines/rev
0.176 deg/count
1024 lines/rev
4096 lines/rev
0.088 deg/count
PWM
2 A
0.5 A
±18 V
±24 V
DRAFT - September 1, 2016