Quanser QBall 2, Настройка и конфигурация

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4.3.3 QBall 2 power distribution board
The QBall 2 uses two 3-cell 2700
mAh
LiPo batteries (#16 in Figure 4.2) to power the DAQ and motors. These
batteries are housed atop the QBall 2 power distribution board (#11 in Figure 4.2) above the QBall 2's cross frame
and held in place using the provided velcro strap (#14 in Figure 4.2). The power distribution board connects both
LiPo battery packs in parallel and routes power to the four motors as well as the DAQ.
Caution
Make sure the batteries are connected and secured with the velcro strap before
attempting to fly the QBall 2.
Secure the batteries to the power board before connecting the batteries to the QBall 2 battery connectors (#7 in
Figure 4.2) and always turn off the power using the QBall 2 power switch (#12 in Figure 4.2) before changing
batteries.
Caution
LiPo batteries can be dangerous if charged improperly. Review the battery charging
procedures (see Section 7) and monitor battery levels frequently during flight. The
3-cell LiPo batteries can become damaged and unusable if discharged below
10
V
. It
is recommended that the batteries be fully charged once they reach
10
V
or less.
4.3.4 QBall 2 motors and propellers
The QBall 2 uses four E-Flite Park
480
(
1020
Kv) motors [3] (#4 in Figure 4.2) fitted with paired counter-rotating APC
10
×
4 . 7
propellers [4] (#3 in Figure 4.2). The motors are mounted to the QBall 2 frame along the X and Y axes
and connected to the four speed controllers [5], which are also mounted on the frame. The motors and propellers
are configured so that the front and back motors spin clockwise and the left and right motors spin counter-clockwise
(when viewed from the top). The electronic speed controllers (ESCs) receive commands from the controller in
the form of PWM outputs from
1
ms
(minimum throttle) to
2
ms
(maximum throttle). Minimum throttle and maximum
throttle are mapped to values between 0 and 1 , respectively, using the HIL Write block to outputs the motor commands
(see Section 6.2 for details on the HIL blocks). The ESCs used in the QBall 2 are configured with the appropriate
throttle range during assembly. It is important that when the controller executes it initializes the ESCs by setting
the motor outputs to the minimum throttle
0 , otherwise you can enter the program mode and alter the ESC settings.
Review the ESC's manual for instructions on changing ESC settings [5].
4.3.5 QBall 2 Joystick
The QBall 2 joystick is a critical component in operating the QBall 2. The joystick allows the operator to fly the QBall
2 using the controls for height (using the sonar to regulate the QBall 2 height), roll (rotating the QBall 2 about the x
axis to fly left/right), pitch (rotating the QBall 2 about the y axis to fly forward/backward), and yaw (rotating the QBall
2 about the z axis to change its direction or heading). Even when flying the QBall 2 in autonomous modes with the
provided controller the joystick is used to initialize and enable the QBall 2 and acts as a kill switch in the event the
QBall 2 controller goes unstable and must be stopped. Section 6.5 describes how to use the joystick to fly the QBall
2 using the provided Simulink models.
QBALL 2 - User Manual
DRAFT - April 6, 2015