The setting of AA loop is as follows:
|
|
Poles |
Zeros |
Gain |
|
END_pit |
0, 20(Q=1) |
2(Q=1) |
2 |
|
END_yaw |
0, 20(Q=1) |
2(Q=1) |
20 |
|
INPUT_pit |
0, 20(Q=1) |
2(Q=1) |
0.3 |
|
INPUT_yaw |
0, 20(Q=1) |
1.3(Q=1) |
2 |
|
|
Corresponding filters are shown in attached figure 1 to 4. |
||
Corresponding filters transfer functions are shown in the attached figures 1-4 (order: end_pit, end_yaw, input_pit, input_yaw).
With this loop, I also measured open-loop transfer functions. They are shown in attached figure 5-8 (order: end_pit, end_yaw, input_pit, input_yaw). They have unity gain frequency shown in the following table.
|
END_pit |
0.64Hz |
|
END_yaw |
6.98Hz |
|
INPUT_pit |
0.17Hz |
|
INPUT_yaw |
0.43Hz |
