Comprehensive System Identification of Ducted Fan UAVs - Cal Poly

It is noticeable from the figure that the servo horn and the potentiometer horn arenot the same length. This means that the deflection of the potentiometer horn will not bethe same as the deflection of the servo horn. All attempts were made to keep theselengths the same.Measurements of all the actuators and the various geometries accounting for theaforementioned differences were taken with precision calipers and recorded as seen in theschematic in Figure 3.21.Figure 3.21 – Schematic Detailing Linkage GeometryIt is apparent that because the ‘center-center’ distance is different from the ‘hornhorn’measurement, the servo deflection will not be 90° when the potentiometer is at 90°.The geometries for all of the actuators are presented in Table 3.16.- 59 -