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12-09-2007, 10:49 PM
Babelfish translation of Vstabi WIKI doc
TS automatic controller - VStabiTS automatic controller
From VStabi
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Table of contents [Verbergen]
1 the paddle head
2 VStabi
3 turning rate regulation
4 turns after - oscillates back
5 turbo
6 adjusting the parameters
6,1 Hiller
6,2 paddle weight
6,3 paddle drive strength and Bell
6.4 proportional
[work on]The paddle head
The paddle head is the interaction of the paddle level, the rotor blades and the
Bell/Hiller mixer. The paddle level forms a gyroscope with the paddles and is
stabilized by the gyroscope forces in the area against influences of noise. Thus
the paddle level serves as situation reference for the helicopter. The Bell
Hiller mixer of the paddle head heads for the rotor blades in such a way that
they work an oscillating motion of the helicopter under the stable paddle level
against. The helicopter is stable.
The oscillating motions of the helicopter exert a strength over the Bell Hiller
mixer on the paddle level. Dependent on the paddle weight the paddle level of
the movement of the helicopter will follow slowly and time-delayed. The more
highly the paddle weight, the longer remains the paddle level by its stabilizing
effect in its situation and the more highly is thus stabilitystability
stability.
[work on]VStabi
VStabi copies the paddle head electronically. As is the case for the paddle head
is the goal of adjusting brief oscillating motions (disturbances) of the
helicopter.
With VStabi for the movement of the helicopter by the transmitter a turning rate
is given. Over the Gyro, a turning rate sensor, is measured the rotating motion
of the helicopter for the regulation. This measurement alone cannot
differentiate between a disturbance (wind) and an intended rotating motion (tax
input). Therefore first the RC channel (gives to the one turning rate) with the
help of the paddle drive strength into the standardized target turning rate and
the turning rate measured by the Gyro with the help of the gyroscope effect into
the standardized actual turning rate are converted. The difference of being and
actual turning rate, the turning rate deviation, corresponds to that turning
rate actually which can be corrected. The integrator sums the turning rate
deviation over the time and forms such a proportional measure for the
inadvertent twist of the helicopter from the neutral situation. Therefore thus
the integrator serves as situation reference and forms the virtual paddle level.
The sum of the integrator is converted over the Hiller portion as tax movement
for the rotor blades. The rotor blades move an oscillating motion of the
helicopter against, the helicopter are stable.
Apart from the rule portion over Hiller the rotor blades are headed for over
Bell and the helicopters turn directly. VStabi is co-ordinated correctly if
during an intended turn of the helicopter without influences of noise the actual
number of revolutions is equal to the target number of revolutions.
So that the virtual paddle level behaves like their material model and follows
time-delayed the movement of the helicopter, the integrator is slowly unloaded.
The paddle weight is a time constant, which indicates, how long the integrator
serves as situation reference before he will slowly unload and the virtual
paddle level of the movement of the helicopter follows. The more highly the
paddle weight, the more slowly the integrator unloaded and the longer remains
the virtual paddle seaweeds in their situation.
In contrast to the paddle head the paddle weight does not affect the Agilitaet.
Because the paddle weight affects only the unloading of the integrator, not
however on summing.
[work on]Turning rate regulation
VStabi regulates the turning rate stopped by the transmitter. Voices being and
actual turning rate not, the integrator negatively to positively or load and
over Hiller is reduced or increased the turning rate. While therefore a constant
turning rate is ensured an intended turn despite influences of noise.
[work on]Turns after - oscillates back
, the stop behavior does not worsen voices being and actual turning rate also
without interference with an intended turn. The integrator "sees" a turning rate
deviation and will load itself, in order to stop the target number of
revolutions. With a hard stop the integrator is loaded and the helicopters with
a positive charge (target turning rate > actual turning rate) will still
after-turn, with negative charge (target turning rate < actual turning rate)
back will oscillate.
With a hard stop the helicopter will easily back oscillate also with an optimal
tuning of being and actual turning rate. Because the mass inertia will continue
to turn the helicopter beyond the point of stop. VStabi evaluates the turning as
disturbance and withdraws the helicopter to the point of stop. The helicopter
oscillates back. With an easy, conscious Nachdrehen (target turning rate >
actual turning rate) this Zurueckpendeln can be controlled. The Nachdrehen
absorbs the Zurueckpendeln, as the hard stop is avoided.
A further way to determine the tuning is, to observe the turning rate of several
Flips and/or roles one behind the other. If they become slower, then the target
turning rate is clearly too small in relation to the actual turning rate. Did
not turn around the conclusion unfortunately possible.
With a BlueTooth leave themselves module in the flight the values of the
integrators for nod and roll on the side "Life" to read off. If the integrators
load themselves one behind the other only little after several Flips and/or
roles, then VStabi is well co-ordinated.
[work on]Turbo
For proportionally the portion there is not no analogy to the paddle head, it
gives it there. That proportionally portion affects with a disturbance
accelerating the correction. With that proportionally portion becomes the
reaction of the helicopter to tax inputs more directly.
[work on]Adjust the parameter
[work on]Hiller
Hiller should be firm one size and adjust, once to the value of 22-25, not
change no more. Depending upon helicopter Hiller is not to be adjusted over 35,
there then while fast driving forward (harmless) rockers begins.
[work on]Paddle weight
The paddle weight determines stabilitystability stability and according to the
desired flight behavior is adjusted. Values between 50 and 120 are quite usual.
[work on]Paddle drive strength and Bell
The paddle drive strength and Bell determine the maximum cyclic excursion of the
rotor blades, thus the turning rate of the helicopter. The relationship between
paddle drive strength and Bell however determines the stop behavior. With the
hard stop the helicopter is to after-turn neither nor oscillate back.
Turns after: The paddle drive strength is too large in relation to Bell. Remedy
creates to increase Bell or reduce the paddle drive strength.
Oscillates back: The paddle drive strength is too small in relation to Bell.
Remedy creates to reduce Bell or increase the paddle drive strength.
In both cases the turning rate is changed at the same time.
Turning rate too small: The paddle drive strength and Bell are too small. Remedy
creates to increase both values in same relation to.
Turning rate too highly: The paddle drive strength and Bell are too large.
Remedy creates to reduce both values in same relation to.
Is thus sensitive co-ordinating of Bell and Paddelanlenkstaerke for the desired
turning rate with at the same time good stop behavior of the helicopter
necessary. The paddle drive strength is not below 40 and rarely clearly over 50.
[work on]Proportionally
The value of the proportional portion only depends on the personal taste. A
value to 40 is on nods and roll uncritically. Beyond that the danger of the
destructive Aufschwingens on nods, which can be caught with the AOF oscillation
suppression, insists. It is recommendable to adjust the helicopter first with
proportional = 0 and to only optimize in the last step with that proportionally
portion further.
TS automatic controller - VStabiTS automatic controller
From VStabi
Changes too: Navigation, search
Table of contents [Verbergen]
1 the paddle head
2 VStabi
3 turning rate regulation
4 turns after - oscillates back
5 turbo
6 adjusting the parameters
6,1 Hiller
6,2 paddle weight
6,3 paddle drive strength and Bell
6.4 proportional
[work on]The paddle head
The paddle head is the interaction of the paddle level, the rotor blades and the
Bell/Hiller mixer. The paddle level forms a gyroscope with the paddles and is
stabilized by the gyroscope forces in the area against influences of noise. Thus
the paddle level serves as situation reference for the helicopter. The Bell
Hiller mixer of the paddle head heads for the rotor blades in such a way that
they work an oscillating motion of the helicopter under the stable paddle level
against. The helicopter is stable.
The oscillating motions of the helicopter exert a strength over the Bell Hiller
mixer on the paddle level. Dependent on the paddle weight the paddle level of
the movement of the helicopter will follow slowly and time-delayed. The more
highly the paddle weight, the longer remains the paddle level by its stabilizing
effect in its situation and the more highly is thus stabilitystability
stability.
[work on]VStabi
VStabi copies the paddle head electronically. As is the case for the paddle head
is the goal of adjusting brief oscillating motions (disturbances) of the
helicopter.
With VStabi for the movement of the helicopter by the transmitter a turning rate
is given. Over the Gyro, a turning rate sensor, is measured the rotating motion
of the helicopter for the regulation. This measurement alone cannot
differentiate between a disturbance (wind) and an intended rotating motion (tax
input). Therefore first the RC channel (gives to the one turning rate) with the
help of the paddle drive strength into the standardized target turning rate and
the turning rate measured by the Gyro with the help of the gyroscope effect into
the standardized actual turning rate are converted. The difference of being and
actual turning rate, the turning rate deviation, corresponds to that turning
rate actually which can be corrected. The integrator sums the turning rate
deviation over the time and forms such a proportional measure for the
inadvertent twist of the helicopter from the neutral situation. Therefore thus
the integrator serves as situation reference and forms the virtual paddle level.
The sum of the integrator is converted over the Hiller portion as tax movement
for the rotor blades. The rotor blades move an oscillating motion of the
helicopter against, the helicopter are stable.
Apart from the rule portion over Hiller the rotor blades are headed for over
Bell and the helicopters turn directly. VStabi is co-ordinated correctly if
during an intended turn of the helicopter without influences of noise the actual
number of revolutions is equal to the target number of revolutions.
So that the virtual paddle level behaves like their material model and follows
time-delayed the movement of the helicopter, the integrator is slowly unloaded.
The paddle weight is a time constant, which indicates, how long the integrator
serves as situation reference before he will slowly unload and the virtual
paddle level of the movement of the helicopter follows. The more highly the
paddle weight, the more slowly the integrator unloaded and the longer remains
the virtual paddle seaweeds in their situation.
In contrast to the paddle head the paddle weight does not affect the Agilitaet.
Because the paddle weight affects only the unloading of the integrator, not
however on summing.
[work on]Turning rate regulation
VStabi regulates the turning rate stopped by the transmitter. Voices being and
actual turning rate not, the integrator negatively to positively or load and
over Hiller is reduced or increased the turning rate. While therefore a constant
turning rate is ensured an intended turn despite influences of noise.
[work on]Turns after - oscillates back
, the stop behavior does not worsen voices being and actual turning rate also
without interference with an intended turn. The integrator "sees" a turning rate
deviation and will load itself, in order to stop the target number of
revolutions. With a hard stop the integrator is loaded and the helicopters with
a positive charge (target turning rate > actual turning rate) will still
after-turn, with negative charge (target turning rate < actual turning rate)
back will oscillate.
With a hard stop the helicopter will easily back oscillate also with an optimal
tuning of being and actual turning rate. Because the mass inertia will continue
to turn the helicopter beyond the point of stop. VStabi evaluates the turning as
disturbance and withdraws the helicopter to the point of stop. The helicopter
oscillates back. With an easy, conscious Nachdrehen (target turning rate >
actual turning rate) this Zurueckpendeln can be controlled. The Nachdrehen
absorbs the Zurueckpendeln, as the hard stop is avoided.
A further way to determine the tuning is, to observe the turning rate of several
Flips and/or roles one behind the other. If they become slower, then the target
turning rate is clearly too small in relation to the actual turning rate. Did
not turn around the conclusion unfortunately possible.
With a BlueTooth leave themselves module in the flight the values of the
integrators for nod and roll on the side "Life" to read off. If the integrators
load themselves one behind the other only little after several Flips and/or
roles, then VStabi is well co-ordinated.
[work on]Turbo
For proportionally the portion there is not no analogy to the paddle head, it
gives it there. That proportionally portion affects with a disturbance
accelerating the correction. With that proportionally portion becomes the
reaction of the helicopter to tax inputs more directly.
[work on]Adjust the parameter
[work on]Hiller
Hiller should be firm one size and adjust, once to the value of 22-25, not
change no more. Depending upon helicopter Hiller is not to be adjusted over 35,
there then while fast driving forward (harmless) rockers begins.
[work on]Paddle weight
The paddle weight determines stabilitystability stability and according to the
desired flight behavior is adjusted. Values between 50 and 120 are quite usual.
[work on]Paddle drive strength and Bell
The paddle drive strength and Bell determine the maximum cyclic excursion of the
rotor blades, thus the turning rate of the helicopter. The relationship between
paddle drive strength and Bell however determines the stop behavior. With the
hard stop the helicopter is to after-turn neither nor oscillate back.
Turns after: The paddle drive strength is too large in relation to Bell. Remedy
creates to increase Bell or reduce the paddle drive strength.
Oscillates back: The paddle drive strength is too small in relation to Bell.
Remedy creates to reduce Bell or increase the paddle drive strength.
In both cases the turning rate is changed at the same time.
Turning rate too small: The paddle drive strength and Bell are too small. Remedy
creates to increase both values in same relation to.
Turning rate too highly: The paddle drive strength and Bell are too large.
Remedy creates to reduce both values in same relation to.
Is thus sensitive co-ordinating of Bell and Paddelanlenkstaerke for the desired
turning rate with at the same time good stop behavior of the helicopter
necessary. The paddle drive strength is not below 40 and rarely clearly over 50.
[work on]Proportionally
The value of the proportional portion only depends on the personal taste. A
value to 40 is on nods and roll uncritically. Beyond that the danger of the
destructive Aufschwingens on nods, which can be caught with the AOF oscillation
suppression, insists. It is recommendable to adjust the helicopter first with
proportional = 0 and to only optimize in the last step with that proportionally
portion further.