9
Specifications
Table 2.2 lists and characterizes the main parameters associated with the Quanser Aero..
Symbol
Description
Value
Units
DC Motor
𝑉
𝑛𝑜𝑚
Nominal input voltage
18.0
Volts
𝜏
𝑛𝑜𝑚
Nominal torque
22.0
mN ∙ m
𝜔̇
nom
Nominal angular velocity
3050
RPM
𝐼
𝑛𝑜𝑚
Nominal current
0.540
Amps
𝑅
m
Terminal resistance
8.4
Ω
𝑘
𝑡
Torque constant
0.042
N ∙ m
A
⁄
𝑘
𝑚
Motor back-EMF constant
0.042
V
(rad s)
⁄
⁄
𝐽
𝑚
Rotor inertia
4.0 × 10
−6
kg ∙ 𝑚
2
𝐿
𝑚
Rotor inductance
1.16
mH
Aero Body
𝑀
𝑏
Mass of body
1.07
kg
𝐷
𝑚
Displacement of Center of Mass (z-axis)
−2.42
mm
𝐽
𝑝
Pitch inertia (y-axis)
2.32 × 10
−2
kg ∙ m
2
𝐽
𝑦
Yaw inertia (z-axis)
2.38 × 10
−2
kg ∙ m
2
𝐷
𝑡
Thrust displacement
0.168
m
Amplifier
Amplifier type
PWM
Peak current
2
Amps
Continuous current
0.5
Amps
Output voltage range (recommended)
±18
Volts
Output voltage range (maximum)
±24
Volts
Table 2. Quanser Aero 2 System Parameters
