Table 2 The parameters of TRMS.
Variable notation | Parametric value | Unit |
|---|---|---|
\(I_1\) | Main rotor inertia | \(6.8 \times {10^{ - 2}}\) kg m\(^2\) |
\(I_2\) | Tail rotor inertia | \(2 \times {10^{ - 2}}\) kg m\(^2\) |
\(a_1\) | Constant | 0.0135 |
\(b_1\) | Constant | 0.0924 |
\(a_2\) | Constant | 0.02 |
\(b_2\) | Constant | 0.9 |
\(M_g\) | Gravitational momentum | 0.32 Nm |
\({B_{1\theta }}\) | Frictional parameter | \(6 \times {10^{ - 3}}\) Nm s\({^2}\)/rad\({^2}\) |
\({B_{2\theta }}\) | Frictional parameter | \(1 \times {10^{ - 3}}\) Nm s\({^2}\)/rad\({^2}\) |
\({B_{1\varphi }}\) | Frictional parameter | \(1 \times {10^{ - 1}}\) Nm s/rad |
\({B_{2\varphi }}\) | Frictional parameter | \(1 \times {10^{ - 2}}\) Nm s\({^2}\)/rad |
\(k_gy\) | Gyroscopic parameter | 0.05 rad/s |
\(k_1\) | Gain of main motor | 1.1 |
\(k_2\) | Gain of tail motor | 0.8 |
\(T_11\) | Denominator constant of main motor | 1.1 |
\(T_10\) | Denominator constant of tail motor | 1 |
\(T_21\) | Denominator constant of main motor | 1 |
\(T_20\) | Denominator constant of tail motor | 1 |
\(k_c\) | Coupling reaction gain | 2 |
