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Symbol
Description
VTOL assembly
m
Counter-weight mass
1
Fan assembly mass
m
2
Link body mass
m
3
l
Length from pivot to center of counterweight
1
Length from pivot to center of fan
l
2
l
Length from pivot to center of link body
3
B
Estimated viscous damping of the pivot
Pivot Encoder
Encoder line count
Encoder line count in quadrature
Encoder resolution (in quadrature)
Amplifier
Amplifier type
Peak Current
Continuous Current
Output voltage
Table 2.3: QNET VTOL System Parameters
Value
258 g
127 g
60 g
72.5 mm
155 mm
7 mm
0.002 Nm/(rad/s)
512 lines/rev
2048 lines/rev
0.176 deg/count
PWM
2.5 A
0.5 A
±24 V with 42 % duty cycle limit (±10 V)
QNET VTOL - User Manual
10
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