Multicopter Design and Control Practice by Quan Quan & Xunhua Dai & Shuai Wang

Author:Quan Quan & Xunhua Dai & Shuai Wang
Language: eng
Format: epub
ISBN: 9789811531385
Publisher: Springer Singapore

(4)Step4: Yaw rate with respect to propeller torque

The torque coefficient parameter “ModelParam.rotorCm” is doubled (“ModelParam.rotorCm 3.558e-07”) and “yawRated” (shown in “f” in Fig. 6.11) in Simulink is set to 0.2 rad. Subsequently, click the “Run” button in MATLAB (as shown in the box “c” in Fig. 6.12c) to update the parameter. The result of yaw rate output (shown in “g” in Fig. 6.11) is shown in Fig. 6.19. It is concluded that the larger torque coefficient is, the faster yaw rate response is.

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