multirotor.vehicle¶
Module Contents¶
Classes¶
- class multirotor.vehicle.MotorParams¶
- resistance: float¶
Motor resistance r. Current = (voltage - back_emf) / resistance
- k_motor: float¶
Motor constant k_m, where speed = k_m * back_emf, and k_m = 1/k_e
- k_emf: float¶
Back-EMF constant k_e, relates motor speed induced voltage, back_emf = k_e * omega
- k_torque: float¶
Torque constant k_q, where torque Q = k_q * current. Equal to k_e
- k_drag: float¶
Aerodynamic drag coefficient, where torque = k_drag * omega^2
- moment_of_inertia: float = 0.0¶
Moment of inertia about rotational axis
- k_df: float = 0.0¶
Viscous damping coefficient. Torque = d_f * speed
- static_friction: float = 0.0¶
- speed_voltage_scaling: float = 1.0¶
Scaling constant to convert speed signal (rad/s) into speed controller voltage (V). If 1, means input action is same as Voltage
- max_current: float¶
Max allowed current
- __post_init__()¶
- class multirotor.vehicle.PropellerParams¶
- moment_of_inertia: float¶
- diameter: float = 6¶
- pitch: float = 3¶
- a: float = 5.7¶
Lift curve slope used in example in Stevens & Lewis (eq 2.2-6a)
- b: float = 2¶
Number of blades
- c: float = 0.0274¶
Mean chord length (m) of the propeller blade
- eta: float = 1.0¶
Propeller efficiency
- use_thrust_constant: bool = True¶
Use k_thrust instead of propeller geometry for thrust calculations.
- k_thrust: float¶
Propeller’s aerodynamic thrust coefficient, where thrust = k_thrust * angular velocity^2
- k_drag: float¶
Torque constant or drag coefficient, where torque = k_drag * angular velocity^2
- motor: MotorParams¶
The parameters of the motor to simulate speed, otherwise instantaneous.
- __post_init__()¶
- class multirotor.vehicle.VehicleParams¶
- mass: float¶
The total mass of the vehicle
- inertia_matrix: numpy.ndarray¶
3x3 intertia matrix describing the rotational properties of the body.
- propellers: List[PropellerParams]¶
- angles: numpy.ndarray¶
Angle (radians) of propeller arm from the positive x-axis (forward) of the body frame.
- distances: numpy.ndarray¶
Distance (m) of each propeller from the centre of mass.
- clockwise: numpy.ndarray¶
1 if motor spins clockwise, -1 if anti-clockwise, looking from the top. Defaults to alternating clockwise/anti-clockwise.
- battery: BatteryParams¶
The battery parameters
- __post_init__()¶
