From f2ed8e443f7dd2820fa6ce611511a94303dba4da Mon Sep 17 00:00:00 2001 From: Junichiro Sugihara Date: Sun, 19 May 2024 23:37:31 +0900 Subject: [PATCH] [Gimbalrotor] modified motor profile --- robots/gimbalrotor/config/MotorInfo.yaml | 63 ++++++++++++++---------- 1 file changed, 38 insertions(+), 25 deletions(-) diff --git a/robots/gimbalrotor/config/MotorInfo.yaml b/robots/gimbalrotor/config/MotorInfo.yaml index 61a7e377f..8030be753 100644 --- a/robots/gimbalrotor/config/MotorInfo.yaml +++ b/robots/gimbalrotor/config/MotorInfo.yaml @@ -1,32 +1,45 @@ motor_info: - min_pwm: 0.59 # 1180 [ms] - max_pwm: 0.9375 # 1875 [ms] - min_thrust: 1.0 # [N] - force_landing_thrust: 6.5 #[N] - m_f_rate: -0.0172 - pwm_conversion_mode: 0 # SQRT Mode + min_pwm: 0.58 # = 1800 [ms] + max_pwm: 0.92 #0.92 # = 1840 [ms] + min_thrust: 0 #[N] + force_landing_thrust: 7 #[N] + m_f_rate: 0 # should be zero, because of the dual rotor + pwm_conversion_mode: 1 # Polynominal Mode vel_ref_num: 4 - ref1: + + ref1: voltage: 25.2 - max_thrust: 20 # N - polynominal2: 0.07983707 # x10 - polynominal1: -6.627443098 # x10 - polynominal0: 12.3593793002 # x1 + max_thrust: 24.26 #20.26 + polynominal4: 2.539831 # x 10^4 + polynominal3: -15.430486 # x10^3 + polynominal2: 26.10449153 # x10^2 + polynominal1: 8.542191758 # x10 + polynominal0: 53.26142529 # x1 ref2: voltage: 24.2 - max_thrust: 19 # N - polynominal2: 0.078085358 # x10 - polynominal1: -6.641338225 # x10 - polynominal0: 12.9797798522 # x1 - ref3: + max_thrust: 22.07 #18.07 + polynominal4: 4.471272 # x 10^4 + polynominal3: -22.8613135 # x10^3 + polynominal2: 34.52944303 # x10^2 + polynominal1: 6.990587655 # x10 + polynominal0: 53.55660546 # x1 + ref3: voltage: 23.2 - max_thrust: 18 # N - polynominal2: 0.074527175 # x10 - polynominal1: -6.440853637 # x10 - polynominal0: 12.9565178437 # x1 - ref4: + max_thrust: 21.35 #17.35 + polynominal4: 3.89786 # x 10^4 + polynominal3: -21.7499721 # x10^3 + polynominal2: 33.08787072 # x10^2 + polynominal1: 10.11759403 # x10 + polynominal0: 53.3154616 # x1 + ref4: voltage: 22.2 - max_thrust: 16.8 # N - polynominal2: 0.071758366 # x10 - polynominal1: -6.346135548 # x10 - polynominal0: 13.2669467083 # x1 + max_thrust: 19.91 #15.91 + polynominal4: 2.940051 # x 10^4 + polynominal3: -19.6361097 # x10^3 + polynominal2: 30.85354129 # x10^2 + polynominal1: 13.24809567 # x10 + polynominal0: 53.05019009 # x1 + + # for simualtion + rotor_damping_rate: 0.1 # = 0.001 / (0.01 + 0.001); 0.01: time constant; 0.001: dt + rotor_force_noise: 0.01 # [N] but good performance in gazebo \ No newline at end of file