3-DoF Copter

3-DoF Copter

3-DoF Experiment System for System Dynamics Education and Research
The 3-DoF Copter is an advanced educational tool designed to teach the principles of dynamic and MIMO control systems.
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REFERENCE CUSTOMERS

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OVERVIEW

The ACROME 3-DoF Copter is a versatile educational platform that allows students to explore the principles of flight dynamics and MIMO control systems. Thanks to its modular design, digital-twin simulation files and open-source examples, it is perfect for both undergraduate education and reserach use. The 3-DoF copter comes with a comprehensive curriculum that includes theoretical concepts and practical applications, enabling learners to gain a deep understanding of aerodynamics and MIMO control structures. The modular boards allow low-level hands-on experiences and HIL simulations as well.
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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
$8,899
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)
402-502 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, ± 30° in Roll, ± 180° in Yaw (unlimited)
Position Repeatability
Angular Sensitivity
Max. Speed
45 °/second
Height (min-max)
280mm. - 500mm. (± 2mm.)
Height
Rod Height
Platform Dimensions (Length * Width)
Base Dimensions (Length * Width)
510mm. x 146mm. (± 2mm.)
Weight
3200 gr. (base unit only)
Propeller Wingspan
50 mm. (± 0.5mm.)
Ball Diameter
Magnet Diameter
Rod's Diameter
Motor Type
Brushed DC motor
Feedback Sensors
Encoder, IMU
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

Modular I/O boards for learning the sensors and testing the thrust of the motors

Assembled and ready to control plant with the integrated power unit

Implementation of advanced digital control techniques

Fully compatible with MATLAB®/Simulink®

Fully documented system models and parameters provided for MATLAB®/Simulink® and Simscape

Enables students to create their own real-time algorithms

Open architecture with extensive courseware, suitable for undergraduate coursesand advanced control research topics

FAQs

What is 3-DoF Copter
The 3-DoF Copter is an automatic control system, used for teaching MIMO control systems and various related control algorithms.
What is a 3-DoF Copter used for?
The 3-DoF Copter is used for learning and trying advanced algorithms to control the 3 different angles of the product via changing the thrust of its dual propellors.
What are the feedback sensors available?
Two encoders are used to determine the pitch and yaw angle of the moving arm, where the 3rd angle (roll) is calculated in the software. An additional Inertial Measurement (IMU) sensor is also used to directly measure all 3 angles of its arm.
What controller types can I use to control the product?
A getting started example based on LQR is provided. You can also lock the product to move in 1 angle (pitch) and use simpler P/PI/PID algorithms for 1-DoF position control. Advanced controller algorithms such as estimators, LGQ, reinforcement learning can also be developed and used.
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 3-DOF COPTER
Copter Tower (modular)
Sensor and Thruster Board (modular)
Base Unit and Controller
FEEDBACK STRUCTURES
Calculating Angle from Encoders
Basics of Filtering
Getting Angle from IMU Sensor
Introduction to Kalman Filters
SYSTEM MODELING
What is coupled dynamics?
Introducing the 3-DoF axes
Modeling of 3-DoF Helicopter
SYSTEM INTERFACES
Electronics Structure
Using Sensor Board
Using Thruster Board
CONTROL SYSTEM DESIGN
Introduction to Controllers
PID for 1-DoF Control
LQR Basics
PERFORMANCE MEASURES
Time Domain Characteristics
Steady State Response and Error
Comparing Simulation Results
Info Sheet Download
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SPECIFICATIONS

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

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No: B204 Maslak 34469
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+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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