U. PID Regler.">
SIMULATION HUBSCHRAUBER :
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SIMULATION HUBSCHRAUBER :. Mux. (H_0-cos(u)*x_Hub). Höhe [m]. Phi. U Höhe -> Höhe. Mux. U Höhe. Hubpotentiometer. sin(u)*x_Hub. 0. Hebelarm Hubrotor. Reibung Hub. Fa. ka_Hub*u^2. Phi". M=Ma-Mr. Hubrotor. Ma=F*x. 1. F=Fa-Fg. f(u). 1/s. Fg. s. Phi'. h -> U. PID Regler.

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Alpha

SIMULATION HUBSCHRAUBER :

Mux

(H_0-cos(u)*x_Hub)

Höhe [m]

Phi

U Höhe -> Höhe

Mux

U Höhe

Hubpotentiometer

sin(u)*x_Hub

0

Hebelarm Hubrotor

Reibung Hub

Fa

ka_Hub*u^2

Phi"

M=Ma-Mr

Hubrotor

Ma=F*x

1

F=Fa-Fg

f(u)

1/s

Fg

s

Phi'

h -> U

PID Regler

Hubmotor

Limited

Alpha"=M/J

( Höhe )

Reset

g

Integrator

Integrator

m

1/J

.

Sollhöhe

[m]

Mux

60/(2*pi)

Masse +

Mux

Ladung

Mux2

Drehzahl

Gain5

Mux3

[1/min]

Höhenanschläge

Spannung

[V]

Soll-

0

richtung

Mr

[Grad]

Reibung Heck

Alpha"

Ml

1/J_Richtung

1

f(u)

1/s

Fh

Mh

s

Alpha'

Gain3

x_Heck

ka_Heck*u^2

Alpha -> U

Limited

Reset

Integrator1

Sum5

Heckrotor

Integrator1

Hebelarm Heckrotor

Heckmotor

PID Regler

( Richtung )

Drehanschläge

U Richtung

Alpha

180/pi

Richtungspotentiometer

Mux

..

Richtung [Grad]

Mux1


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