Quanser Aero 2, Руководство пользователя

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Configuration
The Aero 2 has three different configurations:
•
1 DOF VTOL: Pitch axis is unlocked, and Yaw axis is locked. Both rotors are horizontal.
• 2 DOF Helicopter: Both pitch and yaw axes are unlocked. Rear rotor is vertical.
•
Half-Quadrotor: Pitch axis is locked and yaw-axis is unlocked. Both rotors are horizontal.
The tail rotor (motor 1) can be rotated to alternate between the half-quad/1-dof configuration as well as the 2-dof
configuration, as shown in Figure 3. Use the pitch lock, thruster rotation lock and/or yaw lock to get the desired
configuration.
Half-Quad configuration (pitch locked, yaw free), or
1 DOF (yaw locked, pitch free)
2 DOF configuration
Figure 3. Configurations of the Aero 2 platform
See the Balancing section on how to balance the Quanser Aero 2 unit.
System Schematic
The Quanser Aero 2 can be configured with one of two different I/O interfaces: the QFLEX 2 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 interaction between the different system components on the Quanser Aero 2 is illustrated in Figure 4. On the data
acquisition (DAQ) device block, the motor position encoders are connected to Encoder Input (EI) channels #0 and #1.
EI #2 reads the pitch angle of the Aero body, and EI #3 reads the yaw angle of the yoke. The Analog Output (AO)
channels are connected to the power amplifier command, which then drives the DC fan motors. The DAQ Analog Input
(AI) channels are connected to the PWM amplifier current sense circuitry. The DAQ also controls the integrated tri-
colour LEDs via an internal serial data bus. The DAQ can be interfaced to the PC or laptop via USB link in the QFLEX 2
USB, or to an external microcontroller via SPI in the QFLEX 2 Embedded. The diagram shown in Figure 4 illustrates the
main Quanser Aero components and how they interact with a data acquisition (DAQ) device.