hallmark007
Captain
Flight distance : 9827923 ft
Ireland
Offline
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cutis Posted at 6-26 13:03
Inboard drone vibration is the sum of all rotating machinery, 4motors, 1blower, 4propellers.
They range in frequencies, assuming rpm directly relates to frequencies, say 200-3000rpm, and, their oscillatory movement, called displacement range, say fractional millimeter oscillation. Now when pilot transients flight path, those properties change on the fly, since motors are not all same rpm. The imu must "ignore" such inboard mechanical motions, though tiny, though fluctuating frequencies, within predictable range?
Best way I can explain my thinking around IMU.
An example should make it clearer.
Imagine an X shaped quadcopter, if the desired tilt is horizontal to the ground and the nose of the quad tilts forward, the IMU will recognize this, the IMU will feed this error to the flight controller. The flight controller will send an instruction to the motors on the front of the quad to speed up and so lift the quad back to horizontal. As the error is being corrected the IMU is monitoring and registering the reducing error, the reduced error message is sent to the flight controller and the speed of the motors is adjusted accordingly until the quad is back at its desired tilt. Millions of these instructions are sent per second . |
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