Crash at the end of the flight was intentional so I didn't hit the student that walked past as the crooked frame and wind was pushing it toward the library building. Built while diner was cooking a bit of old wood from the garden and some hot glue.
+Quad config AUW 354 Grams without camera 340 between prop centers
Some sustatined flight frame is not too straight so it tended to wander also pretty gusty wind
Did a trial run in the surf at Purau bay, no video but ran pretty well primes much better on the waves then the NQD unit.
The pump can dissipate way more power than I currently have in it, in fact my old 4500kv Cyclone motor with water cooling died a flaming death on 3C having ran well on a 2C for a while:) Should have known better I measured 68A on a 53A motor in the bath, I tried to keep out of the top of the throttle but obviously not enough. I have 2 options a 600W 2900kv on a 2 or 3C, and a 910W 1100kv which can run a on 6C
I also have a gaggle of alternate props I will be turning down to fit the pump, the current pitch is 31mm I have a 22mm which should be interesting. The tip clearance is around 0.8 mm there is a wear ring not shown here which fills in 0.5mm of the 0.8mm. Looks like the 2 blade polycarbonate prop is the winner thrust wise finaly its ready for her second time, the first time (her maiden) is never that special :) Please see Original Design The 4 blade impeller shown is not as efficient as the 2 blade modified prop alternate, until I curved the blades more and got 38 Amps draw with the 2900kv 600 Watt heli motor. The 2 blade was drawing 59 Amps on the 600 Watt heli.
The stator is somewhat similar to a Graupner units shown below making jet boat impeller
Left: Very pitchy 2 blabe Graupner Impeller
Right: One of my other models with a home made 4 blade impeller, works well
Cutaway of Graupner pump
My impeller very simple will be intersting to see how it performs, I have a 2 blade impeller also
First Yellow Boat failures ESC's died in both boats very high ambient today over 31°C , at the lake, burned out FET's after all the surfing at Sumner I'm surprised after all the reliable running, still we live and learn air cooled in a closed space like the hull was a bit too good to be true.
Fitted 50 Amp water cooled ESC, which is a marinized aero ESC to Henry's boat, as the HK 50A boat ESC's don't seem that great, lots of motor noise and heating, regardless of settings it seems.
Flexible coupling for thrust vectoring servo push rod.
ESC installed aft as the boat trims very bows down note the water cooling, water is pumped and scooped (when moving) from under the boat, and flows through the motor then the ESC and out of the transom so you can see that it is working.
Cooling pump switch, always turn on before launch, it takes a while to prime usually after a bit of forward motion you should see a flow from the outlet. Forward motion will also generate flow but the pump will stop over heating when you stop so you can stop and start as much as you like.
My 500 mm Foam Bi Plane Christmas day 2012 Le Bons bay New Zealand
Took the camera off after this flight as its 19 Grams to much for the tiny bi-plane.
Scratch built for Xmas day. It was fun little plane for the day. It was a bit windy for it so without ailerons a few crashes, nothing that couldn't be taped up however until the ESC caught fire :)
Span 550mm with flip ups
Airframe weight 74 Grams Extruded Polystyrene and Bamboo
AUW 209 Grams Wing loading around 11 Oz/ft² assuming you count both wings as wing area for a bi-plane. Some say the effective wing area is 75% of the total giving around 15 Oz/ft²
Rudder and elevator (no ailerons which was s shame)
Lots of lift from chunky wings, its over powered with a 44 gram AXN-2208-2150 2150kv you could induce a roll with the throttle. The polyhedral flip ups were not big enough I suspect, and it was windy but is flew Ok, the beach is a good place to crash, landed in a tree at one point the big motor kicked her free however.
Getting into flextures, not enough flextures ind RC models in my opinion. They work well and don't backdrive the servos like metal wire, fine on these tiny planes.
Note the bamboo push rods, which weigh nothing.
Cooked the ESC by the end of the session as the two 180mAh Nano Tech's ran dry I taped on a 1300mAh, to heavy to many amps.
Might build a little plane like this for indoors with a tiny motor like a C10 2900kv which is around 8 Grams .
Indoor foamy spec Yank and bank bi-plane 50 Watts should get around 150 - 200 Grams of thrust so plenty
Cooling pump testing here Test results Dynamic losees 29.5 Watts 2.3 Amps Peak power 532 Watts 47.5 Amps on a 3C Impeller 30 X 30 two blade Quite pleased with test results pretty good match motor to impeller it seems. Tried a 30 X 35R impeller which drew too much current the 30 X 30 seems just about optimal.
Home brew cooling small centrifugal pump made from junk, with a scoop on the hull. The pump is mounted directly above the scoop and primes its self with the standard trim at rest. I also found that if I re-introduce the out let from the cooling circuit into the jet ramp, there is a tendency for the water to be sucked through by the main drive when the throttle is up thus improving cooling flow at high loads, a win win. I wanted a pump because taking a tap from the pressure side of the jet outlet uses some thrust and is only available at speed, with low throttle or stopped there is no flow and this I thought would cause over heating when stopping after a long high power burst, which I do when surfing at Sumner.
The cooling circuit. I found that if I re-introduce the out let from the cooling circuit into the jet ramp it helps with coolant flow.
Turnigy 450 H2218 Brushless outrunner 2100KV with water cooling added, big bore pipes just because that the brass I had in stock.
Spec.
Model: 2218
Turns: 6
Cells: 2~4S
Kv: 2100rpm/V
No load Current: 1.9A/10V
Max power: 500W
Weight: 67g
Shaft diameter: 3.17mm
Dimensions: 27.2 x 36.5mm
Recomended ESC: 2~4S/50A
Hobbyking SS Series 90-100A ESC with a water cooling plate added its an overrated ESC so should do the job easy. Will need a BEC I have a 5A in stock also. Spec.
Weight: 85g
Size: 70x50x13mm
Cells: 2-7S Li Po
Max Current: 90A [over 70A use 6S only]
Burst : 100A
No BEC Generally the larger jet is much more effective at lower throttle in the bath, this will be better for trolling in the swamp. On the lake speed remains to be seen, but I can't believe it will be disappointing given the flow and power levels I'm getting on test. I suppose its possible the nozzel velocity is lower than the NQD jet, that said I have read that if the ratio of nozzel velocity is greater then 6:1 then all will be well with the world. Given the area increase from 3.14159 cm² to 4.818 cm² which is an area increase of 1.533 at the same nozzel velocity the mass flow would increase by 1.533 times. So every second the following would seem to add up So as we know the NQD 20 mm jet pushed around 950 grams on Yellow Boat 1, the nozzel velocity must be around 3.023 Meters / Second with no losses? This is where I get into the realm of I don't understand :O fluid dynamic being so complex, although non compressible fluids like water are less complex mathematically than the calculations for air for example Just for fun with an exhaust velocity of 22.5 Meters per Second that's around 80 kph Every second a bar of water from the 20 mm jet has a volume of 7069 cm³ So the mass flow would be 7.069 Liters per second so 7.069 Kgs sec Every second a bar of water from the 30 mm jet has a volume of 10841 cm³ So the mass flow would be 10.841 Liters per second so 10.841 Kgs sec
Definition from Wikipedia
One watt is the rate at which work is done when an object's velocity is held constant at one meter per second against constant opposing force of one newton.
So transpose the above to make kg the subject
With no losses I recon 500 Watts could move 22.22 Kgs to 22.5 Meters a second in one second. Sounds like a lot of water 22.2 Liters Umm??? However the impeller is probably only 60% efficient this is true in air a turbine can only be 59.8 % efficient its called the Betts limit I think. So 22.2 X 0.6 = 13.33 umm 13 Liters a second sounds like a lot ? One way to test this is to measure the amount of water the pump moves over a fixed period of time, simple then to workout all the things we want to know.
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
#ifndef _Kalman_h
#define _Kalman_h
class Kalman {
public:
Kalman() {
/* We will set the varibles like so, these can also be tuned by the user */
Q_angle = 0.001;
Q_bias = 0.003;
R_measure = 0.03;
bias = 0; // Reset bias
P[0][0] = 0; // Since we assume tha the bias is 0 and we know the starting angle (use setAngle), the error covariance matrix is set like so - see: http://en.wikipedia.org/wiki/Kalman_filter#Example_application.2C_technical
P[0][1] = 0;
P[1][0] = 0;
P[1][1] = 0;
};
// The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
//Throttle val = TxVal[1] / 10; val = map(val, 1, 179, 30, 179); val = constrain(val, 1, 165); // scale it to use it with the servo (value between 0 and 180) servo[0].write(val); // sets the servo position according to the scaled value
//Vee tail
//Left Elevator Joy 1 Y TxVal[4] val = (YawTarg + YawTrim) + (PitchTargCentred + PitchTrim); val = constrain(val, 15, 165); val = map(val, 0, 179, 135, 45); // scale it to use it with the servo (value between 0 and 180) servo[1].write(val); // sets the servo position according to the scaled value
//Right Elevator Joy 1 Y TxVal[4] val = (YawTarg + YawTrim) - (PitchTargCentred + PitchTrim); val = constrain(val, 15, 165); val = map(val, 0, 179, 135, 45); // scale it to use it with the servo (value between 0 and 180) servo[2].write(val); // sets the servo position according to the scaled value
//Left Flaperon val = 90 + (RollTargCentred + Flaps) + RollTrim; val = constrain(val, 15, 165); val = map(val, 0, 179, 165, 15); // scale it to use it with the servo (value between 0 and 180) servo[3].write(val); // sets the servo position according to the scaled value
//Right Flaperon val = 90 + (RollTargCentred - Flaps) + RollTrim; val = constrain(val, 15, 165); val = map(val, 0, 179, 165, 15); // scale it to use it with the servo (value between 0 and 180) servo[4].write(val); // sets the servo position according to the scaled value
//Joy 2 x nose Wheel val = (TxVal[6] / 10); val = map(val, 0, 179, 55, 125); servo[5].write(val); // sets the servo position according to the scaled value
}
14% Clark Y more or les given the limitations of the Coroplast
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