Specifications

mode)
KEC,LN,
Pitch encoder resolution (in quadrature
mode)
4096
counts/rev
KEC,
Yaw encoder calibration gain
7.67 10−
rad/counts
KEC,
pitch encoder calibration gain
1.50 10−
rad/counts
Table 4: Various 2DOF Helicopter mass, length, and inertia parameters
Symbol
Description
Value
Unit
mshield
Mass of propeller shield
0.167
kg
mprops
Mass of pitch and yaw propellers, propeller
shields, and motors
0.754
kg
mbody,
Mass moving about pitch axis
0.633
kg
mbody,
Mass moving about yaw axis
0.667
kg
mshaft
Mass of metal shaft rotating about yaw axis
0.151
kg
Lbody
Total length of helicopter body
0.483
Lshaft
Length of metal shaft rotating about yaw axis
0.280
Jbody,
Moment of inertia of helicopter body about pitch
axis
0.0123
kg.m2
Jbody,
Moment of inertia of helicopter body about yaw
axis
0.0129
kg.m2
Jshaft
Moment of inertia of metal shaft about yaw axis
end point
0.0039
kg.m2
Jp
Moment of inertia of front motor/shield assembly
about pitch pivot
0.0178
kg.m2
Jy
Moment of inertia of back motor/shield assembly
about yaw pivot
0.0084
kg.m2
3. System Setup
3.1 Typical Connections for the 2DOF Helicopter
This section describes the typical cabling connections that are used by default for the Quanser 2DOF Helicopter
system. The yaw and pitch encoders are connected directly to the data-acquisition board. This provides the position
feedback necessary to control the helicopter. The data-acquisition board, i.e., DAQ board, outputs a control voltage
that is amplified and drives the front and back motors. Figure 3.7 illustrates the wiring between the two-channel
data-aquisition device, the 2DOF Helicopter base, and a two-channel amplifier. These connections are described in
detail in Section 3.1.1 and summarized in Table 5.
Caution: Pitch motor input: 24V, 5A peak, 3A continuous. Yaw motor: 15V, 3A peak, 1A continuous.