This page stores all the information of the parameters

Parameters

1. Physics Simulation

Unity does kinematics for us. Therefore, We only need to figure out where and what force is acting on the Astrobee given the state of the motors. The position of the vents are known, so we need to determine the force from each vent $F_i$ given $\theta_i$ the angle of the motor controlling each vent, $\omega_l,\omega_r$ the rotational speed of the motor on the left and on the right.

Here left is the negative $x$ direction and right is the positive $x$ direction.

1.1 parameters

• $A_i$ outlet area of vent $i$
• $A$ total outlet area of the single side
• $u$ the air outflow velocity, relative to Astrobee
• $\dot m_i$ the outflow rate of the mass of the air of vent $i$
• $\dot m$ the total outflow rate of the mass of the air of a single side
• $\rho$ the density of the air
• $Q$ volumetric flow rate
• $C_Q = 0.05$ coefficient of volumetric flow rate
• $\omega$ angular velocity of the motor
• $D = 130 \text{ mm}$ impeller diameter

1.2 Assumptions