er 10 copyright TFuruhata
er 10 copyright TFuruhata Radio Controed Heicopter Gow Powered Heicopter Eectric Powered Heicopter icd Battery imh Battery Lithiu Poyer BatteryLi-Po 3300Ah /1 1 10 10 i-mh 700g 3100Ah / 3 37 3 111 Li-Po 30g Kg Word Air Mode -1-
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] --
1 gf = 9807 103 1 = 10197gf 1 gfc = 9807 10 5 1 = 10197 104gf c 1 gfc/a = 9807 10 5 /A 1 /A = 10197 104gf 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 = 1068 103rad/s 1 rad/s = 9365 10 4rp/gf c K = 1/ ke = 1/ k K rad/s = 01047 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 = 10197 10 k [gf c/a] 4 = 9737 10 / 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 = 01047 = 01047 e K [rad/s] rp = e K / = / [rp] rad/s / = = 01047 e K / [rad/s] i M M = ki= 9549 i / K [ ] 4 M T = 10197 10 M = kti M T gf c 4 = 9737 10 i / K [gf c] L T gf c L T = M T 4 = 9737 10 i / K [gf c] M n rad/s M n = R / kek = R K = 1096 10 R K [rad/s ] M T rp/gf c 4 M T = 9365 10 M n 5 = 106 10 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-
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 + 3 4 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/ 1110 930 870 730 R 0039 0059 004 006 M T rp/gf c 0493 054 036 0339 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-
Quick EP-16 10 T 15 T 10/15 80 AXI 86/1 R 006 K 730 rp/ K 01047K 764 rad/s k 9549/ K 131 10 /A 4 k T 9737 10 / K 1334 gf c/a k 9549/ K 131 10 rad/s k E 1/ K 137 10 3 /rp Hoovering 6 1400 rp 01047 1466 rad/s 1100 rp 01047 1176 rad/s i 15 A e Ri + k 161 / K 153 5 M 9549 i/ K 0164 4 M T 9737 10 i/ K 3 167 10 gf c 0 = 0 + 6 0 4, 6 i i 0 K K i = ( 0 + ) i = i + a 7 0 7 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-
(A) (rp) / =80 EP-16 n = 800rp / 100rp 7 p =50 i 7 51 i = 0 + 135 10 n ( p = 50 ) 8 5 1710 i = 0 + 1089 10 n 5 1563 i = 0 + 177 10 n Motor_0exe OPTO BEC i p = 50 n = 100 rp i =74A n = 100 rp i =11A 4 = i0 / K = 00144 [ ] ( = 147 [gf c]) = ( i1 i0) / K = 0659 [ ] ( = 674 [gf c]) % 7-6-
00 = 00 + p 00, p p 9 4, 9 i 0 i00 i = i + bp 10 00 10 1600 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 = 50 + 4946 10 p ( n = 100rp ) 11 Pitch_iexe 7, 9, 10 K 1 i = ( 0 + 00 + p) = i0 + ( a + bp ) 1-7-
(A) (rp) / =80 EP-16 7 1 n =100rp, p =0 /3 /5 n = 800rp, p =5 1 1 Motor_iexe 8 10 41 51 i 0 (8831 10 = + + 9100 10 p ) n 13 K K K K K 14 C 4 i = C + C 15-8-
i C 16 16 K C K / i K C 0% 0% 16 =80 =100 (A) ( =80) (rp) EP-16 80 100 1300 1400 rp 10% 10% 5% 16-9-
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-10 00 T EP-16 10 T 16 = 15 133 LOGO-10 EP-16 n = 1400 rp, p = 5 30 A EP-16 5% LOGO-10 40A LOGO-10-10-
(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-
RK RK e K G( s) 1 P P rad/s ( s 0) K RK 1 RK = e 1 PK 1 PK + + 1+ PK 1 1 K i = + = K + k k 17 17 4 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-
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 + (674 10 + 954 10 p ) n 6 7 1303 103 C = 913 i = 0 + (95 10 + 9937 10 p ) n 6 8 1817 068 (A) ( =40 ) ( =55 ) ( =60 ) i = 0 + (8831 10 + 9100 10 p ) n 8 10 41 51 (rp) / =50 16 i A T gf c K i = C C 18 = i K 4 T = i 9737 10 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-
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 = 115 03 A T = 645 = 0633 1kgf 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-
Motor_0exe p=5 n1 = 800 rp / n = 100 rp ** n1 n n -15-
Pitch_iexe n = 100 rp 0 / 3 / 5-16-
Motor_iexe n1 = 100 rp, p = 0 / 3 / 5 n = 800 rp, p = 5 ** n1 n n1-17-