58 lines
1.7 KiB
Python
58 lines
1.7 KiB
Python
"""
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Quad parameters and constants for maglev simulation
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Ported from quadParamsScript.m and constantsScript.m
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"""
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import numpy as np
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class QuadParams:
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"""Quadrotor/maglev pod parameters"""
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def __init__(self):
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# Pod mechanical characteristics
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frame_l = 0.61
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frame_w = 0.149 # in meters
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self.yh = 3 * 0.0254 # yoke height
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yh = self.yh
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# Yoke/rotor locations (at corners)
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self.rotor_loc = np.array([
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[frame_l/2, frame_l/2, -frame_l/2, -frame_l/2],
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[-frame_w/2, frame_w/2, frame_w/2, -frame_w/2],
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[yh, yh, yh, yh]
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])
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# Sensor locations (independent from yoke/rotor locations, at edge centers)
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self.sensor_loc = np.array([
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[frame_l/2, 0, -frame_l/2, 0],
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[0, frame_w/2, 0, -frame_w/2],
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[yh, yh, yh, yh]
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])
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self.gap_sigma = 0.5e-3 # usually on micron scale
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# Mass of the quad, in kg
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self.m = 6
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# The quad's moment of inertia, expressed in the body frame, in kg-m^2
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self.Jq = np.diag([0.017086, 0.125965, 0.131940])
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self.invJq = np.linalg.inv(self.Jq)
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# Quad electrical characteristics
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maxcurrent = 30
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self.yokeR = 2.2 # in ohms
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self.yokeL = 5e-3 # in henries (2.5mH per yoke)
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self.maxVoltage = maxcurrent * self.yokeR # max magnitude voltage supplied to each yoke
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class Constants:
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"""Physical constants"""
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def __init__(self):
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# Acceleration due to gravity, in m/s^2
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self.g = 9.81
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# Mass density of moist air, in kg/m^3
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self.rho = 1.225
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