Open mariam0amin opened 1 year ago
Based on these notes which try to explain the gazebo parameters for the motor model, you might actually be right.
The units of ω is [Time^-2], there is no radians involved
Motor constant is in (kg)(m). Moment constant is in (m)
According to the code for motor constant and force: Motor Constant = Thrust / (Angular_rate^2) Units of motor constant = [Mass][Length][Time^2] / [Time^2] = [Mass][Length]
According to the code for moment constant and torque: Moment Constant = (Torque about z axis) / (Thrust along z axis) Units of Moment constant = [Mass][Length^2][Time^2] / [Mass][Length][Time^2] = [Length]
@JohnTGZ Thanks, I appreciate your help; but, do you know how I may obtain the motor constant in this case? I used to conduct an experimental analysis in which I measured the thrust and the rotor velocity in rpm or rad/sec that corresponded to this thrust. After fitting the data, I obtained the motor constant. However, now that you are saying that it is angular rate, how can I obtain the motor constant in that case? or simply that radians are dimensionless?
in this line of code -----> ignition::math::Vector3d drag_torque(0, 0, -turningdirection force momentconstant); is this the calculation for the moment? and if it is, how is it force* moment constant? does this mean moment constant unit is meters?? Thanks in advance