UBot Rotor Spec
多旋翼的一个旋翼：位置、旋向和电机参数。
| 字段 | 类型 | 蓝图 | 说明 |
|---|---|---|---|
Position MetersPositionMeters | Vector | 读写 | 旋翼轴心在机体系中的位置，单位 m（UE 坐标轴：X 向前，Y 向右，Z 向上）。 |
Spin DirectionSpinDirection | EUBot Rotor Spin Direction枚举 | 读写 | 从上方看的旋向。机体受到方向相反的反扭矩。 |
Thrust CoefficientThrustCoefficient | Float (double) | 读写 | 推力系数，推力 = 系数 × 转速²，单位 N/(rad/s)²。默认 5.84e-6。 |
Torque CoefficientTorqueCoefficient | Float (double) | 读写 | 扭矩系数，反扭矩 = 系数 × 转速²，单位 N·m/(rad/s)²。默认 9.344e-8。 |
Max Speed Radians Per SecondMaxSpeedRadiansPerSecond | Float (double) | 读写 | 旋翼最大转速，单位 rad/s。默认 1100 rad/s。 |
Motor Time Constant SecondsMotorTimeConstantSeconds | Float (double) | 读写 | 电机转速的一阶时间常数，单位 s。默认 0.02 s。 |
Break UBot Rotor Spec
Section titled “Break UBot Rotor Spec”Break UBot Rotor SpecUBot Rotor SpecPosition MetersSpin DirectionThrust CoefficientTorque CoefficientMax Speed Radians Per SecondMotor Time Constant Seconds
把 UBot Rotor Spec 拆成位置、旋向、推力系数、扭矩系数、最大转速和电机时间常数。
| 引脚 | 方向 | 类型 | 说明 |
|---|---|---|---|
| UBot Rotor Spec | 输入 | UBot Rotor Spec结构体 | |
| Position Meters | 输出 | Vector | Position of the rotor hub in the body frame, m (UE axes: X forward, Y right, Z up). |
| Spin Direction | 输出 | EUBot Rotor Spin Direction枚举 | Spin direction seen from above. The body feels the opposite reaction torque. |
| Thrust Coefficient高级 | 输出 | Float (double) | Thrust = this * speed², N/(rad/s)². |
| Torque Coefficient高级 | 输出 | Float (double) | Reaction torque = this * speed², N·m/(rad/s)². |
| Max Speed Radians Per Second高级 | 输出 | Float (double) | Largest rotor speed, rad/s. |
| Motor Time Constant Seconds高级 | 输出 | Float (double) | First-order time constant of the motor speed, s. |
Make UBot Rotor Spec
Section titled “Make UBot Rotor Spec”Make UBot Rotor SpecPosition Meters0.0, 0.0, 0.0Spin DirectionClockwiseThrust Coefficient0.000006Torque Coefficient0.0Max Speed Radians Per Second1100.0Motor Time Constant Seconds0.02UBot Rotor Spec
用各字段组装一个 UBot Rotor Spec。
| 引脚 | 方向 | 类型 | 默认值 | 说明 |
|---|---|---|---|---|
| Position Meters | 输入 | Vector | 0.000000,0.000000,0.000000 | Position of the rotor hub in the body frame, m (UE axes: X forward, Y right, Z up). |
| Spin Direction | 输入 | EUBot Rotor Spin Direction枚举 | Clockwise | Spin direction seen from above. The body feels the opposite reaction torque. |
| Thrust Coefficient高级 | 输入 | Float (double) | 0.000006 | Thrust = this * speed², N/(rad/s)². |
| Torque Coefficient高级 | 输入 | Float (double) | 0.0 | Reaction torque = this * speed², N·m/(rad/s)². |
| Max Speed Radians Per Second高级 | 输入 | Float (double) | 1100.0 | Largest rotor speed, rad/s. |
| Motor Time Constant Seconds高级 | 输入 | Float (double) | 0.02 | First-order time constant of the motor speed, s. |
| UBot Rotor Spec | 输出 | UBot Rotor Spec结构体 |