In my last post, i had vibration issues, remember??
So, what did i do to resolve that??
- First, we design a better place for the sensor to be, it uses elastic bands, that improve a lot the readings, but we still had glitches on the angles.
- We change from DCM to Kalman, because the performance of Kalman was better, and faster.
- We use a second filter, we implement a simple digital low-pass filter just after the analog readings, it help us to smooth the sensor jitter.
With this 3 upgrades, the angles were pretty acceptable even in max acceleration, ill post a video in a while.
Now i have a new problem...
I was using the training blades, that reduces power by 30%, and i was needing all the power, so, i change them to the good o normal blades, and i did a flight to test them, the results were bad, the helicopter was uncontrollable, very unstable and veryyyyyy difficult to hover.
We manage to balance "correctly" the blades, so i proceed to test again.
The same result....
And a curious data about this issue is that the motor and the battery were very hot after the test flights, veryyy hot, and thats very strange, it never happen with the training blades, i presume that the motor is requiring to much current, and the battery is getting hot because of that, so i think something is wrong with my heli, but i don't really know whats the problem...
I know that i have to make a tracking balance of my blades, but i don't really know how to do it...
Anyone has an idea??
In this picture we see a NI acquisition usb card, that helps us to find the spectrum of the frequency, for finding the correct parameters for the digital filter.
In control news, we are currently designing the neurofuzzy control, and it will take a couple of more days, its a easy task, because we have nice knowledge in that subject, ill post somethig about that later.
But im very stress because i cant make flight tests!!! hahahaha