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10

 

 

 
Balancing 

The Quanser Aero 2 should be balanced before running any of the experiments. There are two tungsten 

weights mounted on each rotor that can be adjusted to balance the system, as shown in Figure 6.  

 

Figure 6. Mass sliders for leveling the Aero 2 unit 

Start by moving the sliding masses all the way outwards. If the Aero 2 is not balanced, identify the rotor that 

is leaning downwards. Move the mass slider on this rotor inwards until the system is balanced.  

Environmental 

The Quanser Aero 2 is designed to function under the following environmental conditions: 

 

Standard rating 

 

Indoor use only 

 

Atmospheric conditions 

 

Temperature - 15

C to 35

 

Altitude - up to 2000 m 

 

Relative humidity - 30% to 60%  

 

Air Pressure 

 86 kPa (860 mbar) 

 106 kPa (1060 mbar) 

 

Pollution Degree 2 

 

Mains supply voltage fluctuations up to 10% of nominal voltage 

 

Maximum transient overvoltage 2500 V 

Содержание Aero 2

Страница 1: ...User Manual V2 1 Dec 12th 2022 Aero 2...

Страница 2: ...or the Work and provide the name Quanser Inc for attribution These restrictions may not be waved without express prior written permission of Quanser Inc FCC Notice This device complies with Part 15 of...

Страница 3: ...r use by the public The user is responsible to ensure that the equipment will be used by technically qualified personnel only While the end effector board provides connections for external user device...

Страница 4: ...4 Configuration 6 System Schematic 6 Handling and Setup 7 Hardware Components 8 i DC Motors 8 ii Propellers 8 iii Encoders 8 iv Inertial Measurement Unit IMU 8 v Power Supply 8 Specifications 9 Balanc...

Страница 5: ...or control by a microcontroller device such as an Arduino via a 4 wire SPI interface For all versions the system is driven using two direct drive 18V brushed DC motors The motors are powered by a buil...

Страница 6: ...3 Support yolk 12 IMU on Aero 2 core board 4 Aero 2 body 13 Interface power LED 5 Pitch pivot 14 Data connector USB version shown 6 Pitch lock 15 Power connector 7 Yaw lock 16 Power switch 8 Thruster...

Страница 7: ...USB and the QFLEX 2 Embedded The QFLEX 2 USB provides a USB interface for use with a computer The QFLEX 2 Embedded provides a 4 wire SPI interface for use with an external microcontroller board The i...

Страница 8: ...FF and connect the Aero 2 to a power supply 2 Connect the Aero 2 to the PC via USB or to the microcontroller via SPI connection 3 Ensure that a volume of space around the manipulator is dedicated as a...

Страница 9: ...The encoders used to measure the pitch of the Aero body and the angular position of the DC motors on the Quanser Aero 2 are single ended optical shaft encoders The motor encoders output 2048 counts pe...

Страница 10: ...Torque constant 0 042 N m A Motor back EMF constant 0 042 V rad s Rotor inertia 4 0 10 6 kg 2 Rotor inductance 1 16 mH Aero Body Mass of body 1 07 kg Displacement of Center of Mass z axis 2 42 mm Pitc...

Страница 11: ...s not balanced identify the rotor that is leaning downwards Move the mass slider on this rotor inwards until the system is balanced Environmental The Quanser Aero 2 is designed to function under the f...

Страница 12: ...at you have been properly grounded Caution Always monitor the current draw and motor temperature to ensure that you do not exceed the maximum current draw or 50 Caution Do not allow conductive materia...

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