summary
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1.2. Fig 6 AT Fig 5 24 00000 RC Fig 7 Fig 7 y ly Ty Q 1 Di kgm yi rad s h m Tir Q Nm 1
3. 13 0000 1 RC 2004 1985 20
4. ta A gt BA ta lt i ud o ta s e gt CI o 2 CI 2 CI CI eh r E Tref P s 42 00000000000000
5. 02 TE mr Tr 10 8 Timels Timels Fig 9 0 3 rad s Fig 10 30 rad s v t t u t Dr y t GG w Fig 11 Fig 11 u t Asin wt y t gt Brsin kot 0 v t 10 k 1 k 1 By sin wr 61 roo v t 10 sin c f T 2nn w 1 T CUBE 1 T A U y t sin wtdt ba sin kwt 0 sin widi v t sin widi 11 T Jo Ed T Jo Bf SB T 1 T sin wt 01 sin widi 2 sin kwt 04 sin widi v t sin widi 12 T Jo T Jo T Jo hK b k 13 js T sin nt sinmutdt 0 T cosnwt cos mwtdt 0 NN n m n m n m n zm 16
6. T G f s Gei r s 26 y s Tref r s 27 27 Tref r s y s G fols C s Tref r s y s 28 2600 28 5 Gry s G pots 29 Fig 18 43 000000000 C s C s ci 05 FEL 0213451 30 s 0 05784s 1 Fig 19 10 apjueo freguency rad s Sep eseud freguency rad s Fig 19 Tref z 6
7. 16 H T TO 2z o lh v t v t L 0 wt 5 13 1 Uz 5B1c0s 1 17 10 COS wt T 2nn w 1 U 5B sing 0 1 18 1 P sin 0 19 L I3 1 U 25 sin 01 20 arg G jw ADO Qo B 2B 2 IG jw 1 dcos 6 sin 0 VU2 U 21 A A2 A B _ 2080 Cos 0 aU arg G jw 0 tan tan tan 22 sin 0 A 510 01 U 33 0000 P AN O yaw BRR l ES Jum p RELER 1 5 DARE ULA MAR Ut Fig 12 Fig 12 1 RT Linux u DA 2 DA u 3 RC 4 RC theta 5 0 6 RC 7 RT Linux 8 RT Linux RC y
8. Fig 21 7 2 1 Tref a 32 ref 52 2 0 4 402 so 209 0 4 1888 32 30 Fig 22 EE ETT DEE CL Gw A er A a aree ED EEE EN 05 r AU ooo doo ooo S 0 le 5 05 reference Y CB GE D 4H yaw angle 20000 1 1 1 15122727 Simulation iza cad mm an n EVE 10 20 30 40 50 60 70 Timels 04 T T o Voltage V o 1 e ib 1 o Time s Fig 22 Fig 22 7 2 6 0000 61 000
9. 1 0000 11 0000 RC RC RC RC 12 000000 RC 2 RCULULU 21 0000000000000000 17 Wh TIIT IT EVY ES C PTA Y an TR amp um T L wn Hal 802 at 9 Yer Le an an wg ME Ai Fig 1 Fig 2 Fig 1 Fig 2 Fig 2 00000000000 Cig3 l 0D H
10. u t y r gain G jw phase ZG jw o G s B 8 9 32 OU Voltage V Position rad Voltage V La oo 2 2 8 l 10 3 Fig 9 10 5 006 reference anal reference yaw angle yaw angle s 002 J i E E BO Face en 0 o a L 104 1 l L 1 105 10 6 107 108 Time s
11. co N C1 a a Il gt R Fig 17 Py s estimate value L 1 1 o o o o o o N es 40 apjueo 10 Frequency rad s Sep eseud Frequency rad s Fig 17 4 000000000 r t y t
12. Tref 3 Tref Tref P s 31 w S W Tref w 52 2 o o 0 9 6 28 5 00000000 e N ep o k gl
13. pp 70 76 1984 GUI cs06re70b 14 cs07re62 Table 1 RC EP CONCEPT 86 6 cm 17 7 cm 69 cm 1 0 kg T6XHS Futaba PCM1024 E6B2 CWZ3 omron 1000 P R 4 PS10 35 KENWOOD 8 90 V RC 22 A S82J 5112 omron 121V1 1
14. Timels 12 Fig 21 H o 5 a o a A bb eb 2 Fig21 Fig 14 2 52 0000000000000
15. DD 2 11 o o N N oc Sws ch 2 05 amp E 250 Metten gt f LI ma o o PEA E n l x k E EP i Jo ocu Y er 1 m r T voa ji NE 2 f f b Cb L q Ob r T 4 ACE b LA dod dg d do 9 e O O O Q ei e e o T pe4 uonisod LAJSBEJJ0A Timels 1 6 Fig 20 10 51 00000000000000 3 2 0 3 6 70 simulation I 10 50 60 40 Time s 20 pe4 uonisog 15F n e3eyoA Position
16. 2 y 3 CurRjpn 0716 Cru R2nOP y Q Rif m n l m qu rad s 0j rad Cir 1 2 PdirCir 2 P HI 3 y 1 1 3 Gy s C sI AY 1B Gy s 1 oll GE 4 l r li Solo 5 6 mc o s s ao 2 3 0 000000000000000000000 31 000000 G s Fig 8 u t Asin wi y Bsin Fig 8 G s u t u t Asinot y t y t Bsin wt 6
17. RC 34 0000000000000000000 Gy s 0 s s ag 25 23 ao bo Gy s 1051 0 39425 1 E9705 1 0085725 1 Sen RAJ Usin wt d HJ Xsinwt Ysin t
18. t Eig 13 Fig 13 0 015 100 rad s 24 3 0 2 rad s 2 rad s 20 rad s Fig 14 16 25 Py s 53 pe4 uonisog pe4juonisog 0 02 pe4 uonisoq amp o xa h a Tno T rr E au 512 E 1 d RE o T i E o DA i TU aaa nan uu E i E renun Poder Go el x eer ds Mn EET TT CH o WER be A TO se 1 1 1 L 1 O e y o d x s 2 3 d 2 2 3753578 5 T T T T T a L 8 Aje8e310A 3 A 98 3IoA m x a o N r 1 g ES mmc cms MER Ss e 5 9 58 f 2 44444444444 i a i Ei k i x nr iz z Er 2 o o E aa si e E L E
19. 00000000000000000 00000000 00000000 0000 2007 100 4L
20. A RT Linux OS Vain Linux 3 2 2 4 29 RT Linux 3 2 rc1 CPU CeleronD 2 66GHz 512MB DA PCI 3338 Interface 12Bit AD PCI 3153 Interface 12Bit PCI 6201E Interface 4 15
21. HHHLHUHHHIHHIHLHLHHLHLLHLLHL U Fig 5 Fig 6 podo000000000000000000Fig400000000000000000000000000000
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