Ver. 1.0 copyright T.Furuhata

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1 er 10 copyright TFuruhata

2 er 10 copyright TFuruhata Radio Controed Heicopter Gow Powered Heicopter Eectric Powered Heicopter icd Battery imh Battery Lithiu Poyer BatteryLi-Po 3300Ah / i-mh 700g 3100Ah / Li-Po 30g Kg Word Air Mode -1-

3 e J i r r G J G r = r J J k e R R kk e J J :1 R ( ) R ( ) k k ( /A) T (gf c/a) [kg /s ] k E (/rp) k e (rad/s) K (rp/) K (rad/s) (rp) (rp) M T (gf c) L (gf c) T M L (rad/s) (rad/s) ( ) ( ) e () i (A) e () i (A) ( s) (Wb ) Wb [ s] b (T ) b ( s/ ) T [W b/ ] () () r () r () Wb = rb [ s] k k /A = / [rad/s] M M = rbi = i / = k i i e e = rb = / v k e rad/s e = ke ke = rb = / = k k /A k e rad/s k [ /A] k e [rad/s] --

4 1 gf = = 10197gf 1 gfc = = gf c 1 gfc/a = /A 1 /A = gf c/a 1 rp = 01047rad/s 1 rad/s = 9549rp 1 rp/ = 01047rad/s 1 rad/s = 9549rp/ 1 /rp = 9549 rad/s 1 rad/s = 01047/rp 1 rp/gfc = rad/s 1 rad/s = rp/gf c K = 1/ ke = 1/ k K rad/s = K [rad/s] K rp/ K = 9549 K [rp/] k /A k = 1/ K [rad/s] = 9549 / K [ A] k T gf c/a 4 kt = k [gf c/a] 4 = / K [gf c/a] k rad/s k = k = 9549 / K [ A] e k E /rp ke = 1/ K [/rp] e rp = e K = [rp] rad/s = = e K [rad/s] rp = e K / = / [rp] rad/s / = = e K / [rad/s] i M M = ki= 9549 i / K [ ] 4 M T = M = kti M T gf c 4 = i / K [gf c] L T gf c L T = M T 4 = i / K [gf c] M n rad/s M n = R / kek = R K = R K [rad/s ] M T rp/gf c 4 M T = M n 5 = R K [rp/gf c] e = Ri + ke J 1 M = ki = J s + + s + ( s = j) : = M n = KG( s) e M ng( s) G( s) K M n M n = G( s) e G( s) G ( ) s G s -3-

5 1 J G( s) = T = M n( J + ) 1 + T s i 1 K (1 ( )) ( ) i = G s e + KG s + G ( s ) R s 0 M n RK = Ke M n = Ke RK K M n M n K RK RK = e = e K i = K i e i K K rp/ e e = Ri + ke K 5 4 r k M k M R M n R k K K M ode otors AXI AXI 80/10 AXI 80/1 AXI 86/10 AXI 86/1 K rp/ R M T rp/gf c M n M T K K R M n M T 1 M i k i M K k 4 / K AXI 86/1 GP 30 Quick EP-16-4-

6 Quick EP T 15 T 10/15 80 AXI 86/1 R 006 K 730 rp/ K 01047K 764 rad/s k 9549/ K /A 4 k T / K 1334 gf c/a k 9549/ K rad/s k E 1/ K /rp Hoovering rp rad/s 1100 rp rad/s i 15 A e Ri + k 161 / K M 9549 i/ K M T i/ K gf c 0 = , 6 i i 0 K K i = ( 0 + ) i = i + a Quick EP-16 6kg AXI 86/1 (730-K/006 /14-poe) future-355 OPTO (Governor) Li-PoPQ-6003S (6SP) FT-550G SR 10T 15T = 80 Astro Fight Meter n = 1400 rp, p = 6, i = 15 A -5-

7 (A) (rp) / =80 EP-16 n = 800rp / 100rp 7 p =50 i 7 51 i = n ( p = 50 ) i = n i = n Motor_0exe OPTO BEC i p = 50 n = 100 rp i =74A n = 100 rp i =11A 4 = i0 / K = [ ] ( = 147 [gf c]) = ( i1 i0) / K = 0659 [ ] ( = 674 [gf c]) % 7-6-

8 00 = 00 + p 00, p p 9 4, 9 i 0 i00 i = i + bp rp 1400 rp (A) 100 rp 1000 rp 800 rp 600 rp EP-16 n i p i n p = 0 /3 /5 10 n = 100 rp i 41 i = p ( n = 100rp ) 11 Pitch_iexe 7, 9, 10 K 1 i = ( p) = i0 + ( a + bp ) 1-7-

9 (A) (rp) / =80 EP n =100rp, p =0 /3 /5 n = 800rp, p =5 1 1 Motor_iexe i 0 ( = p ) n 13 K K K K K 14 C 4 i = C + C 15-8-

10 i C K C K / i K C 0% 0% 16 =80 =100 (A) ( =80) (rp) EP rp 10% 10% 5% 16-9-

11 EP-16 =133, p=5 (A) EP-16 =133 (rp) / =15 LOGO-10 Mikado LOGO-10 3kg Hacker B50-16L (1509-K/006 /-poe) future-1861 OPTO (Governor) DM-330M / Li-Po PQ-600 4S (4SP) 148 MAH 00T 16T = 15 Astro Fight Meter n = 1400 rp, p = 55, i = 17 A Hacker B50-16L Mikado LOGO-10 Quick EP-16 LOGO T EP T 16 = LOGO-10 EP-16 n = 1400 rp, p = 5 30 A EP-16 5% LOGO-10 40A LOGO

12 (A) (rp) / =19 Baron Whisper Kato Baron Whisper 1kg Kontronik Twist-37 (3700-K/ ) Phoenix-45 BEC (Governor) DM-330M / Li-Po PQ-600 3S (3SP) JRC 6 350T ( 70 85/17) 16T = 19 Astro Fight Meter n = 1300 rp, p = 4, i = 115 A BEC 03 A K =19 BEC Battery Eiinator Circuit 100rp 0% -11-

13 RK RK e K G( s) 1 P P rad/s ( s 0) K RK 1 RK = e 1 PK 1 PK PK 1 1 K i = + = K + k k R / 1 PK P e K K / 1 PK P e i RK RK RK (1 + PK ) G( s) G '( s) = 0 1 T ' = 0 1 ' T -1-

14 EP-16 / LOGO-10 / Baron Whisper EP-16 / AXI 86-1 (730-K, =80, 6 kgf) LOGO-10 / Hacker B50-16L (1509-K, =15, 3 kgf) Baron Whisper / Kontronik Twist-37 (3700-K, =19, 1 kgf) C = 1689 C = 107 i = 0 + ( p ) n C = 913 i = 0 + ( p ) n (A) ( =40 ) ( =55 ) ( =60 ) i = 0 + ( p ) n (rp) / =50 16 i A T gf c K i = C C 18 = i K 4 T = i K 19 EP-16 / AXI 86/1 K= 730 rp/, = 80 n = 1400 rp, p = 6, i = 15 A T = 133 = 131 6kgf 1kgf 51 kgf c / kgf 481 A / kgf -13-

15 LOGO-10 / Hacker B50-16L K = 1509 rp/, = 15 n = 1400 rp, p = 55, i = 17 A T = 139 = 136 3kgf 1kgf 604 kgf c / kgf 748 A / kgf Baron Whisper / Kontronik Twist-37 K = 3700 rp/, = 19 n = 1300 rp, p = 4, i = A T = 645 = kgf 1kgf 538 kgf c / kgf 933 A / kgf 1kgf EP-16 / AXI 86/1 LOGO-10 / Hacker B50-16L 18% 6kgf 1kgf 15A 11A 133kgf c 645kgf c 5% 18 i K = C = 0 C K / C n i C C K / EP-16 EP-16 AXI 86/1-14-

16 Motor_0exe p=5 n1 = 800 rp / n = 100 rp ** n1 n n -15-

17 Pitch_iexe n = 100 rp 0 / 3 / 5-16-

18 Motor_iexe n1 = 100 rp, p = 0 / 3 / 5 n = 800 rp, p = 5 ** n1 n n1-17-

A B A E

A B A E 10533-68-3955 10533-68-3955 10533-68-3804 RP A-6 10533-68-3804 10533-69-9615 10533-57-2161 B-2 10533-68-2274 10533-68-2221 10533-67-6282 A-6 10533-57-2161 E-3 10533-68-5161 10533-68-3553 D-2 D-2 10533-69-5258