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## Universal test platform design and methodology development for measures of static and dynamic characteristics of R/C servos

### Kasper Pawłowski

#### Abstract

ThepurposeofthisstudywastodesignatestplatformandtodevelopmethodologyformeasuresofstaticanddynamiccharacteristicsofR/Cservos,whereR/C standsforRadio-Control.R/CservosaresmallDCmotorscompoundwithagearbox and motor control electronic circuit in single case. Nowadays, they are commonly used in hobby remote-controlled models, robotic systems and unmanned aerial vehicles, nevertheless the application may be complicated by poor speciﬁcations that are provided by producers. Insufﬁcient amount of information makes it hard to compare servos performance and assess adequacy of the particular model for the application, especially in sophisticated systems. Several research teams have been engaged in the problem of mesuring characteristics of these devices what emphasizes the importance of the issue. However, the author has not found any existing test platform that would satify the requirement of universality, comprehended as adjustment for many servo models available on the market and that would provide measurements of static and dynamic characteristics at once. The scope of the study included test platform design and set up as well as measurement algorithms development and implementation. Furthermore, a few R/Cservoshavebeentestedandsimplesimulationmodelhasbeenbuilt,identiﬁed and validated. In Chapter 1 one can ﬁnd detailed descriptions of servo structure and control interface. Author has focused on the market analysis and existing solutions for servo testing. In Chapter 2 ultimate aim and scope of the study have been enunciated together with functional and set-up requirements. Hypothesis about the necessity of obtaining more detailed servo parameters has been proved. Chapter 3 contains detailed characteristics of proposed platform. One can ﬁnd descriptions of designed mechanical system with strength calculations as well as electronic components characterization with schematic diagram. In the broad sense of the term, the most attention has been paid to the programming question that turned out to be the most time-consuming, considering the whole project. Flowcharts and structures of the program developed for microcontroller (controlling measurement processes) as well as simulation for PC (receiving measurement data and computing) have been widely described. The source code has not been characterized assuming that one can analyse it on his or her own usingattachedcomments.AttheendoftheChapter3anissueofservomodeling hasbeenraised.Simplesimulationmodelcreatedassynthesisofliteratureexamples has been depicted. Chapter 4 contains results of the tests of several servo models as well as results of identiﬁcation and validation of the model described in Chapter 3
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Kasper Pawłowski (FPAE) Kasper Pawłowski,, Faculty of Power and Aeronautical Engineering (FPAE)
Title in Polish
Opracowanie uniwersalnego stanowiska pomiarowego i metodyki badania statycznych i dynamicznych charakterystyk serwomechanizmów modelarskich
Supervisor
Przemysław Bibik (FPAE/IAAM) Przemysław Bibik,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
Study subject / specialization
, Lotnictwo i Kosmonautyka
Language
(pl) Polish
Status
Finished
Defense Date
27-09-2016
Issue date (year)
2016
Pages
72 + załączniki
Internal identifier
MEL; PD-3815 (zastrzeżona)
Reviewers
Przemysław Bibik (FPAE/IAAM) Przemysław Bibik,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE) Robert Głębocki (FPAE/IAAM) Robert Głębocki,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Keywords in Polish
serwomechanizm modelarski, serwo, stanowisko pomiarowe, charakterystyki statyczne, charakterystyki dynamiczne
Keywords in English
R/C servo, test platform, static characteristics, dynamic characteristics
Abstract in Polish
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praca_dyplomowa_pawlowski_252261_1027128.pdf
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Local fields
Identyfikator pracy APD: 13763

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUT6b7f29899c3643f48a0f3245bb0f6220/
URN
urn:pw-repo:WUT6b7f29899c3643f48a0f3245bb0f6220

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