1-DoF Copter

1-DoF Copter

Flight simulation control unit for teaching and research
ACROME 1-DoF Copter is a perfect introductory plant for learning fundamentals of flight dynamics and control.
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REFERENCE CUSTOMERS

boing logo
jaguar and land rover logos

OVERVIEW

1 DOF Copter has been designed to simplify the intelligent control strategy of flight systems. With the motor compatible electronic speed controller and high-resolution encoder 1 DOF Copter enables users to experience the fundamental concepts of quadcopters, rockets, hovercrafts, and underwater vehicles. Ready to use courseware enables students to understand the main topics of control engineering such as system modeling, linearization, linear control system design and frequency response analysis. The fully open-source software gives the freedom to students and researchers to modify the algorithm or even design their own structure.

SOFTWARE OPTIONS

LabVIEW, Real-Time (optional), FPGA (optional)
Altair Activate
Executable & GUI
Python
LabVIEW, Real-Time, FPGA (optional)
Python and OpenCV
API for External Control (Examples for LV, Matlab, Python)
MatLab/Simulink
C with STM32 software
API for External Control (Examples for LV, Matlab, Python)
* Different controllers may require

CONTROLLER OPTIONS

USB (PC based)
Raspberry Pi + Shield
NI myRIO
Arduino Mega + Shield

APPLICATION AREAS

Professional Photography
Medical Applications
Wearable Items
Quality Assurance
Engineering Research Applications
Positioners' Algorithm Research
Starting From
$7,499
Stewart platform
Ready to use GUI
API for external programming
Customization options available
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PRODUCT PHOTOS

SPECIFICATIONS

Standard Unit
Customizations Options
Payload
12 kgs (26,5 lbs)
Up to 150 kgs (331 lbs)
Workspace Options
X and Y Axis +/-60 mm
Z Axis +/-50 mm
Roll, Pitch, Yaw +/- 20°  
Up to +/-300 mm
Up to +/-150 mm
Up to +/- 45°  
Position Repeatability
+/- 100 µm
Down to +/- 25 µm
Angular Sensitivity
0.2°
Down to 0.1°
Max. Linear Speed
40 mm/sec.
Up to 80 mm/sec.
Height (min-max)
406-506 mm
330-920 mm
Platform Diameter
350 mm (hexagonal)
250-1000+ mm
Base Diameter
450 mm (hexagonal)
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options

SPECIFICATIONS

Payload
Workspace
± 30° in Pitch
Position Repeatability
0.36°
Angular Sensitivity
0.36°
Max. Speed
45 °/second
Height (min-max)
280mm. - 500mm. (± 2mm.)
Height
Rod Height
Platform Dimensions (Length * Width)
510mm. x 146mm. (± 2mm.)
Base Dimensions (Length * Width)
600mm. x 200mm. (± 2mm.)
Weight
3,200 gr.
Propeller Wingspan
62mm. (± 0.5mm.)
Ball Diameter
Magnet Diameter
Rod's Diameter
Motor Type
Brushed DC Motor with Built-In Encoder
Feedback Sensors
Encoder, IMU (optional)
Power Requirement
12V - 3A

FEATURES

Solid body for precise motion and measurement

Getting Started Program with rich Graphical User Interface for out-of-the-box user experience

High resolution incremental encoder for angle measurement of rotor arm

Motor compatible electronic speed controller

Assembled and ready to control plant with the integrated power unit

Implementation of advanced digital control techniques

Fully compatible with MATLAB®/Simulink® and LabVIEW™

Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™

Enables students to create their own real-time algorithms

Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems

FAQs

What is 1-DoF Copter?
The 1-DoF Copter is an automatic control system, used for teaching control systems and various control algorithms.
What is a 1-DoF Copter used for?
The 1-DoF Copter is used for trying different algorithms to control its upper arm position in different vertical angles via changing the thrust of its propellors.
What are the feedback sensors available?
An encoder is used to determine the angle of the moving arm. The DC motor has also an optional built-in encoder to measure its speed in real time. Product can also optionally be provided with an Inertial Measurement (IMU) sensor to measure the tilt angle of its arm.
Can I use the product for trying different controller types other than PID?
Yes you can. There are other simple controller types available such as On/Off (ie. bang/bang), P, PD. The Product is delivered as an open-source system and users are free to try their own different control algorithms.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

COMPONENTS OF 1-DOF COPTER
DC motor
Electronic Speed Controller (ESC)
Encoder
Controller
Power Supply Box
Mechanics of the System
FUNDAMENTALS OF PWM
PWM Signaling Theory
Generating PWM Signals
Observing PWM Signals
Open-loop Speed Control of Motor via ESC
FEEDBACK IN CONTROL SYSTEMS
Gathering Angle Data from Encoder
Basics of Filtering
SYSTEM MODELING
Nonlinear Equation of Motion and Linearization
Modeling of 1-DOF Helicopter
PERFORMANCE MEASURES
Time Domain Characteristics
Steady State Response and Steady State Error
CONTROL SYSTEM DESIGN
Introduction to Controllers
Design of the Linear Controllers
Info Sheet Download
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SPECIFICATIONS

*We offer customization in our product upon customer’s request.

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ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

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