Difference between revisions of "Booz"

From PaparazziUAV
Jump to: navigation, search
Line 1: Line 1:
 
== Simulator ==
 
== Simulator ==
  
=== Flight model ===
+
=== Flight dynamic model ===
  
in file : sw/simulator/booz_flight_model.c
+
in files : sw/simulator/booz_flight_model.c
  
 +
Hover point hypothesis is assumed, ie each rotor only produces a force normal to the rotor
 +
and a moment along the same axis, both proportional to the square of the prop rotational speed.
 +
 +
==== Rotors dynamic ====
 
Motor dynamics is simulated.
 
Motor dynamics is simulated.
 
modelisation by a Riccati equation :
 
modelisation by a Riccati equation :
Line 10: Line 14:
 
<math>\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V</math>
 
<math>\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V</math>
  
For flight dynamics, a hover point hypothesis is assumed, ie each rotor only produces a force normal to the rotor
+
=== Sensors model ===
and a moment along the same axis, both proportional to the square of the prop rotational speed.
 
  
 +
in files : sw/simulator/booz_sensors_model.c
  
  

Revision as of 13:00, 29 February 2008

Simulator

Flight dynamic model

in files : sw/simulator/booz_flight_model.c

Hover point hypothesis is assumed, ie each rotor only produces a force normal to the rotor and a moment along the same axis, both proportional to the square of the prop rotational speed.

Rotors dynamic

Motor dynamics is simulated. modelisation by a Riccati equation :

\dot{\omega} = - \frac{1}{\tau}\omega - K_{Q}\omega^2 + \frac{K_{V}}{\tau}V

Sensors model

in files : sw/simulator/booz_sensors_model.c


Display

can use flightgear as a 3D display

example command line :

fgfs --fdm=null --native-gui=socket,in,30,,5501,udp --aircraft=bo105

Associated command line options for the simulator : --fg_host and --fg_port

Interactive control

The radio control can be replaced by a joystick.

the joystick device can be specified with the --js_dev option

Attitude Filter

Motor controllers