Googol Technology Control & network factories of the future Four-Rotor Hover Vehicle Overview The four-rotor hover vehicle consists of motors with airscrews, encoders, drive modules, motion controllers and slip rings, etc. It is a highly coupled multiple degrees of freedom system. Different flight controls such as elevation and depression, inclination and hovering of the vehicle can be achieved. The system is suitable for undergraduates, postgraduates and control theory researchers to carry out verification and research of control theory such as optimal control, robust control, etc. The four-rotor hover vehicle is powered by the 4 airscrews of the motors placed at the gumball shaft. The front, left and right motors drive the corresponding airscrews to fulfil the elevation and depression of the vehicle, the left and right motors drive the corresponding airscrews to overturn the vehicle, while the rear motor drives the corresponding airscrews to realize the navigation of the vehicle. The 3 encoders which are installed on the platform detect the different aviation statuses of the vehicle and form a closed loop system, thus fulfil precise positioning of the elevation and depression, tilting and hovering of the vehicle. Slip rings are installed in the base of the vehicle so that the wirings will not tangle up when the vehicles rotate freely. It also helps to reduce friction. Main Features • • Open architecture design Hardware platform based on PC and open architecture DSP motion controller Typical multi-input multi-output system （MIMO） Attractive appearance Reference Experiments • • • System modelling and analysis experiment System open loop response analysis PID controller design MATLAB Experiment Software

Googol Technology Control & network factories of the future System Modelling System state space equation Specifications Size (L×W×H) Pitch angle Roll angle Yaw angle Power input Weight Motion controller DC motor Pitch encoder Roll encoder Yaw encoder Slip ring Ordering Guide Model Number Product Name Four rotor hover vehicle Four-rotor hover vehicle main body GT-

Googol Technology Control & network factories of the future