User manual
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1
As we defined before: Pull stick T<0, multi-rotor moves down; Push stuck T>0 multi-rotor moves up, we can choose the following
setup:
Hex-rotor V
100%100%
100%
100% 100%
100%
Front
M1M2
M3
M4 M5
M6
Roll Axis
Pitch Axis
Yaw Axis
d
2d
a
a
Now if push the throttle stick, the sum of all motors output (C
T1
+ C
T2
+ C
T3
+ C
T4
+ C
T5
+C
T6
)×T is positive, then multi-rotor moves up;
pull the throttle stick, the sum of all motors output (C
T1
+ C
T2
+ C
T3
+ C
T4
+ C
T5
+C
T6
)×T is negative, then multi-rotor moves down. And
the balance along all the other axes can be derived by substituting the throttle stick command into equations set 1.
Yaw
The movement about yaw axis is produced by the counter torque force from the rotation of propeller. In our example, M1 M3 M5
produce clockwise torque force; M2 M4 M6 produce counter clockwise torque force. When the quad-rotor is hovering, all the rotors are
spinning at the same angular velocity, which means the clockwise torque force equals to counter clockwise torque force, and this
produces exactly 0 angular acceleration about yaw axis. Therefore, when the rotate speed of M1 M3 M5 is larger than M2 M4 M6,
hex-rotor spins clockwise; when the rotate speed of M1 M3 M5 is smaller than M2 M4 M6, hex-rotor spins counter clockwise. We also
want multi-rotor to keep balance along all the other axes when apply the yaw stick command:
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2
As we defined before: Stick left R<0, multi-rotor nose left; Stick right R>0, multi-rotor nose right, we can choose the following setup:
Hex-rotor V
100%-100%
100%
-100%
100%
-100%
Front
M1M2
M3
M4 M5
M6
Roll Axis
Pitch Axis
Yaw Axis
d
2d
a
a
Now if move the yaw stick right, the sum of M1, M3, M5 output (C
R1
+ C
R3
+ C
R5
) ×R is positive, the sum of M2, M4, M6 output (C
R2
+
C
R4
+ C
R6
) ×R is negative, then the clockwise torque force is larger than counter clockwise torque force, multi-rotor nose right; if move
the yaw stick left, the sum of M1, M3, M5 output (C
R1
+ C
R3
+ C
R5
) ×R is negative, the sum of M2, M4, M6 output (C
R2
+ C
R4
+ C
R6
) ×R
is positive, then the clockwise torque force is smaller than counter clockwise torque force, multi-rotor nose left. And the balance along
all the other axes can be derived by substituting the yaw stick command into equations set 2.
Pitch
The movement about the pitch axis is produced by the differential output of M1+M2 and M4+M5. Since M3 and M6 are on the pitch
axis, they do not contribute and torque. You can just keep the rotation speed of M3 and M6 the same as hovering, so C
P3
and C
P6
are 0.
Increase output of M4, M5 and decrease output of M1, M2, multi-rotor moves forward; decrease output of M4, M5 and increase output
of M1, M2, multi-rotor moves backward. We also want multi-rotor to keep balance along all the other axes when apply the pitch stick
command: