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Re: [Paparazzi-devel] Vibration issues (?) on a quadrotor


From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] Vibration issues (?) on a quadrotor
Date: Fri, 17 Feb 2012 06:18:12 +0100
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

Hi,
i think the Rate sensor signals are ok. Please replay the test if you hold you quadocpter in the hand and
use a throttle that the quadcopter is just hover. The Idea with a additional mass may be help.
What is the problem with the values? Is the system flying well and only the values are to noisy?

Heinrich

Loic Drumettaz schrieb:

Hi,

I've made some test with the quad fixed on a table. With 43% throttle, i have the following results:

GYROMETER





voie

min

max

moy

stdev

p

-15.1073

20.6046

0.99363

6.3917

q

-12.3935

11.5403

-0.69831

4.3985

r

-36.1035

48.0075

1.7297

16.4202

ACCELEROMETER




voie

min

max

moy

stdev

ax

-13.6587

10.9194

0.15068

4.3117

ay

-8.347

6.8557

-0.16339

2.8296

az

-15.4049

-2.4464

-9.7606

2.1168

MAGNETOMETER




voie

min

max

moy

stdev

mx

-0.94291

-0.7847

-0.86101

0.032067

my

0.092289

0.19825

0.14064

0.020364

mz

0.146

0.44435

0.27401

0.05397


I don't know if this test is relevant, since the landing gear does introduce additionnal vibrations. Nevertheless, i find it easier to compare different damping arrangements.
I'll try to balance the motor/propeller and the rubber screws on the IMU. Is it also efficient to add some mass on the IMU, in order to lower the natural frequency? I've checked that the motor and frame are well fixed and stiff enough.
Can anyone confirm my guess that the issues I had with RC climb mode comes from vibrations ? (see my previous message)

Thanks
Loïc


Hi,

a vibration level of 20% full scale of the rate sensor  is  normal.
The best way is to damp vibrations and to balance the propeller   together with  with the  motor rotors.
You can try rubber screws   like on this page: https://www.mikrocontroller.com/index.php?main_page=index&cPath=77&zenid=f3cc9c70489e257d4d4e04552f0e1343
If the damping is to soft the quadcopter will became unstable.
Is your motor mounting, your frame, wiring and the PCBs  fix?
Can you sense  the vibrations  with  your hands if you hold the quadcopter?

Heinrich Warmers


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