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txt[8/18/2014 11:08:17 AM]

QPROP User Gui de Ver si on 1. 21
Mar k Dr el a 6 J ul y 07
Gener al Descr i pt i on
===================
Mot i vat i on
- - - - - - - - - -
QPROP i s an anal ysi s pr ogr amf or pr edi ct i ng t he per f or mance
of pr opel l er - mot or combi nat i ons. I t s i nt ent i s t o pr ovi de
an al t er nat i ve t o t he exi st i ng pr op/ mot or si mul at i on pr ogr ams,
whi ch use r el at i vel y si mpl e pr opel l er model s, and assume
a br ushed DC mot or t ype. QPROP has a r el at i vel y sophi st i cat ed
and accur at e pr op aer odynami c model , and a gener al mot or model
whi ch can be i mpl ement ed vi a a user - suppl i ed subr out i ne
i f necessar y.
The compani on pr ogr amQMI L gener at es pr opel l er geomet r i es
f or t he Mi ni mumI nduced Loss ( MI L) condi t i on. I t can al so
gener at ed wi ndmi l l geomet r i es f or t he MI L or Maxi mumTot al Power
( MTP) condi t i ons. See t he qmi l _doc. t xt document f or mor e i nf o.
Pr opel l er aer o model
- - - - - - - - - - - - - - - - - - - -
The pr opel l er i s model ed wi t h an advanced bl ade- el ement / vor t ex
met hod, whi ch i s essent i al l y a consi der abl y enhanced ver si on
of t he anal ysi s met hod of Lar r abee. The enhancement i s pr i mar i l y
i n t he cor r ect account i ng of t he pr op' s sel f - i nduct i on,
whi ch makes QPROP accur at e f or ver y hi gh di sk l oadi ngs,
al l t he way t o t he st at i c- t hr ust case. The bl ade ai r f oi l
l i f t char act er i st i c i s assumed t o be a si mpl e l i near CL( al pha)
l i ne wi t h CLmax and CLmi n st al l l i mi t i ng. The pr of i l e dr ag
char act er i st i c i s a quadr at i c CD( CL) f unct i on, wi t h an
appr oxi mat e st al l dr ag i ncr ease, and a power - l aw scal i ng
wi t h Reynol ds number . The model appl i es equal l y wel l t o
pr opel l er s and wi ndmi l l s.
The t heor et i cal f or mul at i on i s descr i bed i n f ar mor e det ai l
i n t he document qpr op_t heor y. ps
Mot or model s
- - - - - - - - - - - -
Mot or t ype 1
- - - - - - -
The def aul t mot or t ype 1 cor r esponds t o a br ushed DC mot or ,
and i s model ed usi ng t he f ai r l y st andar d appr oach wi t h an
r pm/ Vol t mot or const ant Kv, an el ect r i cal r esi st ance R,
and a const ant r ot at i onal f r i ct i on descr i bed by t he zer o- l oad
cur r ent I o. The r el at i ons used ar e:
vol t age = V
cur r ent = I
t or que = Q = ( I - I o) / Kv
r ot . speed = w = ( V- I *R) *Kv
mech. power = P = w*Q = ( V- I *R) * ( I - I o)
ef f i ci ency = P/ ( I *V) = ( 1- I *R/ V) * ( 1- I o/ I )
The equat i ons above assume Kv i s i n uni t s of r ad/ s / Vol t ,
al t hough i t i s speci f i ed i n t he t r adi t i onal uni t s of r pm/ Vol t .
Mot or t ype 2
- - - - - - -
Mot or t ype 2 cor r esponds t o a br ushed DC mot or , and i s a mor e accur at e
ext ensi on of t he t ype 1 model above. The ext ensi ons ar e i mpr oved model s
of t he f r i ct i onal t or que, t emper at ur e- dependent r esi st ance, and
magnet i c l ags. See t he mot or _t heor y. pdf document f or a compl et e
descr i pt i on.
Ot her mot or t ypes
- - - - - - - - -
Any ot her mot or model can be coded i n SUBROUTI NE MOTORQ ( i n mot or . f ) ,
as a Q( w, V) f unct i on. The der i vat i ves dQ/ dw and dQ/ dV must al so
be r et ur ned. The subr out i ne sour ce header f ul l y descr i bes t he i nput s
and out put s.
For non- el ect r i c mot or s, t he " vol t age" V passed t o MOTORQ can r epr esent
any sui t abl e power - cont r ol var i abl e, e. g. t hr ot t l e set t i ng, f uel f l ow r at e, et c.
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I nput Fi l es
===========
Fl ui d const ant s f i l e qcon. def ( opt i onal )
- - - - - - - - - - - - - - - - - - - -
Thi s opt i onal f i l e cont ai ns t he f l ui d const ant s, i n t he f ol l owi ng f or mat :
1. 225 ! r ho ( kg/ m^3) densi t y
1. 78E- 5 ! mu ( kg/ m- s) dynami c vi scosi t y
340. 0 ! a ( m/ s) speed of sound
I f t hi s f i l e i s absent , QPROP wi l l use t he def aul t const ant s
def i ned i n f i l e sr c/ QDEF. I NC . The cur r ent def aul t s cor r espond
t o sea l evel ai r .
Pr op f i l e
- - - - - - - - -
QPROP r equi r es a f ai r l y det ai l ed descr i pt i on of t he
pr opel l er geomet r y and bl ade ai r f oi l char act er i st i cs.
Al t hough i t woul d be ni ce t o j ust speci f y t he pr opel l er ' s
di amet er and pi t ch, t hi s i s i n gener al i nsuf f i ci ent t o accur at el y
capt ur e t he pr opel l er ' s per f or mance. Cr ude i nput i s sur e
t o pr oduce cr ude out put . Hence, i t i s wor t hwhi l e t o accur at el y
measur e t he pr op.
See t he accompanyi ng document pr op_measur e. pdf f or def i ni t i ons
and measur ement t echni ques. Measur ement of t he bl ade angl es
can be done wi t h a commer ci al pi t ch- measur i ng gauge.
The bl ade angl e bet a at some r adi us r and pi t ch p
i s t hen comput ed usi ng t he f ol l owi ng equat i on:

bet a = ar ct an[ p / ( 2 pi r ) ]
The pr op f i l e has t he f ol l owi ng f or mat .
Bl ank l i nes and l i nes begi nni ng wi t h " #" ar e i gnor ed.
Any t ext af t er a " ! " i s i gnor ed, al l owi ng conveni ent
comment s t o be pl aced af t er t he dat a.
Gr aupner CAM 6x3 f ol der
2 3. 05 ! Nbl ades [ R ]
0. 50 5. 8 ! CL0 CL_a
- 0. 3 1. 2 ! CLmi n CLmax
0. 028 0. 050 0. 020 0. 5 ! CD0 CD2u CD2l CLCD0
70000 - 0. 7 ! REr ef REexp
0. 0254 0. 0254 1. 0 ! Rf ac Cf ac Bf ac
0. 0. 0. ! Radd Cadd Badd
# r chor d bet a
0. 75 0. 66 27. 5 ! r oot st at i on
1. 00 0. 69 22. 0
1. 50 0. 63 15. 2
2. 00 0. 55 10. 2
2. 50 0. 44 6. 5
2. 875 0. 30 4. 6
3. 00 0. 19 4. 2 ! t i p st at i on, al so gi ves R = r i f R i s omi t t ed f r om Li ne 2
1) Li ne 1 i s t he pr opel l er descr i pt i on name
2) Li ne 2 gi ves t he number of bl ades, and opt i onal l y t he r ef er ence r adi us R.
I f t hi s R i s omi t t ed f r om l i ne 2, t hen t he t i p st at i on r val ue i s used f or R
( R = 3. 00 woul d be used i n t hi s exampl e)
3, 4) Li nes 3 and 4 speci f y t he l i near CL( al pha) f unct i on f or t he bl ade ai r f oi l :
CL( al pha) = ( CL0 + CL a*al pha ) / bet a , cl i pped t o CLmi n. . CLmax r ange
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wher e bet a = sqr t ( 1 - M^2) i s t he l ocal Pr ant dl - Meyer compr essi bi l i t y f act or
The CL0 i nt er cept at al pha=0 i s equi val ent t o t he zer o- l i f t angl e:
CL0 = - CL_a * al pha_ZL
Because t he CL( al pha) cur ve i s of t en nonl i near , speci f yi ng CL0
i s usual l y mor e r el i abl e.
5) Li nes 5 and 6 speci f y t he 2- pi ece quadr at i c CD( CL, Re) f unct i on
f or t he bl ade ai r f oi l :
CD( CL, Re) = [ CD0 + CD2*( CL- CLCD0) ^2 ] * [ Re/ REr ef ] ^REexp
wher e
CD2 = CD2u i f CL > CLCD0
CD2 = CD2l i f CL < CLCD0
I t ' s usual l y accept abl e t o cr ayon- f i t a 2- pi ece par abol a t o t he ai r f oi l ' s
dr ag pol ar f r om XFOI L or some ot her sour ce, and r ead of f t he par amet er s.
The Re- scal i ng f act or cr udel y model s Re var i at i on ef f ect s on CD.
REr ef i s t he Re val ue of t he pol ar f r om whi ch t he CD0, CD2u, CD2l , CLCD0
par amet er s ar e obt ai ned, and REexp adj ust s t he CD f or ot her Re number s.
Pi cki ng REexp = - 0. 5 i s r easonabl e f or most l ow Re ai r f oi l s. For ver y
l ar ge pr ops wi t h si gni f i cant t ur bul ent f l ow, REexp = - 0. 2 may be mor e
r eal i st i c.
An addi t i onal CD cont r i but i on i s added t o t he quadr at i c CD( CL)
i f t he CL i s cl i pped at t he st al l l i mi t s:
dCD_st al l = 2 * [ si n( al pha- aCD0) ] ^2 ; aCD0 = ( CLCD0- CL0) / CL_a
Thi s gi ves t he cor r ect val ue CD = 2 f or al pha ~ 90 degr ees,
and i s r easonabl e f or mor e moder at e st al l ed angl es.
7, 8) Li nes 7 and 8 speci f y scal i ng f act or s and added const ant s t o be appl i ed
t o t he f ol l owi ng bl ade geomet r y dat a. SI uni t s ar e r equi r ed, so t he
f act or s of 0. 0254 conver t t he r adi us and chor d f r om i nches t o met er s.
The bl ade angl e i s i nput i n degr ees, and wi l l be conver t ed t o r adi ans.
The f act or s ar e appl i ed bef or e t he added const ant s. I n summar y:
r _SI = r * Rf ac + Radd ( r _SI i n met er s )
c_SI = chor d * Cf ac + Cadd ( c_SI i n met er s )
b_SI = ( bet a * Bf ac + Badd) * pi / 180 ( b_SI i n r adi ans)
The Rf ac and Radd const ant s ar e al so appl i ed t o t he r ef er ence r adi us R,
whet her t hi s i s gi ven i n Li ne 2, or t aken f r om t he t i p r val ue.
R_SI = R * Rf ac + Radd ( R_SI i n met er s )
9. . . ) Li nes 9 onwar d gi ve t he geomet r y f or some number of r adi al l ocat i ons,
f r om r oot t o t i p. I f R i s gi ven on l i ne 2, t he l ast st at i on can be j ust
shor t of t he act ual t i p, wi t h t he r emai ni ng geomet r y obt ai ned by ext r apol at i on.
I f R i s _not _ gi ven on l i ne 2, t hen t he l ast st at i on must be at t he act ual t i p.
The bet a val ues ar e measur ed f r om t he pr op di sk pl ane t o t he ai r f oi l dat um l i ne
f r om whi ch al pha i s def i ned f or t he CL( al pha) f unct i on.
The chor d and bet a dat a ar e spl i ned and i nt er pol at ed t o a much
f i ner r adi al spaci ng, so onl y r el at i vel y f ew r adi al st at i ons
ar e r equi r ed. However , over l y coar se or i r r egul ar i nput mi ght
cause spl i ne over shoot s. The i nt er pol at ed geomet r y i s l i st ed
as out put , and shoul d be checked f or smoot hness.
Advanced pr opel l er f i l e f or mat
- - - - - - - - - - - - - - - -
The pr op f i l e f or mat above assumes al l r adi i have t he same
ai r f oi l char act er i st i cs. As a mor e gener al al t er nat i ve,
each of t he r adi al - st at i on l i nes can opt i onal l y speci f y
t he l ocal ai r f oi l sect i on pr oper t i es. The mor e gener al f or mat
f or t he pr op f i l e i s:
Gr aupner CAM 6x3 f ol der
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2 3. 02 ! Nbl ades [ R ]
0. 50 5. 8 ! CL0 CL_a
- 0. 3 1. 2 ! CLmi n CLmax
0. 028 0. 050 0. 020 0. 5 ! CD0 CD2u CD2l CLCD0
70000 - 0. 7 ! REr ef REexp
0. 0254 0. 0254 1. 0 ! Rf ac Cf ac Bf ac
0. 0. 0. ! Radd Cadd Badd
# r chor d bet a [ CL0 CL_a CLmi n CLmax CD0 CD2u CD2l CLCD0 REr ef REexp ]
0. 75 0. 66 27. 5 0. 80 6. 1 - 0. 3 1. 5 0. 032 0. 060 0. 010 0. 6
1. 00 0. 69 22. 0 0. 70 6. 0 - 0. 3 1. 4 0. 030 0. 056 0. 014 0. 55
1. 50 0. 63 15. 2 0. 60 5. 9 - 0. 3 1. 3 0. 029 0. 054 0. 020 0. 52
2. 00 0. 55 10. 2
2. 50 0. 44 6. 5
2. 875 0. 30 4. 6
3. 00 0. 19 4. 2
Onl y t he t hr ee i nner r adi i above have l ocal ai r f oi l pr oper t i es speci f i ed.
The r emai ni ng r adi i wi t h t he ai r f oi l dat a absent wi l l si mpl y be assi gned
wi t h t he def aul t dat a i n l i nes 3- 6. A par t i al ai r f oi l dat a l i st can
be gi ven on any l i ne. For exampl e, t he t hr ee i nner r adi i do not have
l ocal REr ef and REexp number s gi ven. These wi l l t hen assume t he def aul t
val ues i n l i ne 6.
Mot or f i l e - t ype 1
- - - - - - - - - - - - - - - - - - -
The mot or t ype 1 descr i pt i on f i l e has t he f ol l owi ng f or mat .
Speed- 400 3321 ( 6V) di r ect dr i ve ! name
1 ! mot or t ype ( 1 = per manent - magnet br ushed or br ushl ess DC mot or )
0. 31 ! mot or par amet er 1 , R ( Ohms) f or mot or t ype 1
0. 77 ! mot or par amet er 2 , I o ( Amps) f or mot or t ype 1
2760. 0 ! mot or par amet er 3 , Kv ( r pm/ Vol t ) f or mot or t ype 1
.
.
.
1) Li ne 1 i s t he mot or / gear i ng descr i pt i on name
2) Li ne 2 i s an i nt eger speci f yi ng t he mot or model t ype.
SUBROUTI NE MOTORQ must i mpl ement t he model of t he speci f i ed t ype.
3. . . ) Li nes 3. . . cont ai n mot or model par amet er s whi ch ar e si mpl y passed t o MOTORQ.
The exampl e shown i s t he def aul t br ushed DC mot or model , whi ch r equi r es
t hr ee par amet er s:
Li ne 3 i s t he mot or r esi st ance.
Li ne 4 i s t he no- l oad cur r ent , whi ch i s best measur ed at cl ose
t o t he expect ed oper at i ng r pm.
Li ne 5 i s t he r pm/ Vol t const ant .
The speci f i ed vol t age i s def i ned at t he mot or t er mi nal s. I f desi r ed,
t he bat t er y+wi r i ng+ESC r esi st ance R' can be added t o t he speci f i ed
mot or r esi st ance:
R - > R + R'
I n t hi s case, t he speci f i ed " Vol t " wi l l be t he unl oaded bat t er y vol t age.
The comput ed " mot or ef f i ci ency" wi l l t hen seem unusual l y l ow, si nce now
i t al so i ncl udes t he bat t er y, wi r i ng, and ESC r esi st i ve l osses.
A gear box wi t h gear r at i o G: 1 r educes Kv by t he f act or 1/ G:
Kv - > Kv / G
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The power l oss of t he gear box shows up as an i ncr ease i n t he
zer o- l oad cur r ent I o. An expect ed gear box ef f i ci ency " et aG"
can be model ed by i ncr easi ng I o as f ol l ows:
I o - > I o + I * ( 1- et aG)
wher e I i s t he expect ed oper at i ng cur r ent .
Mot or f i l e - t ype 2
- - - - - - - - - - - - - - - - - - -
The mot or t ype 2 descr i pt i on f i l e has t he f ol l owi ng f or mat .
Speed- 280 6328 ( 6V) di r ect dr i ve
2 ! mot or t ype ( br ushed DC, hi gher - or der model )
0. 70 ! R0 ( Ohms)
0. 160 ! I o0 ( Amps)
3800. 0 ! Kv ( r pm/ Vol t )
3800. 0 ! Kq ( Amps/ N- m) *30/ pi
1. 0E- 5 ! t au ( s)
5. 7E- 5 ! I o1 ( Amp- s)
4. 0E- 8 ! I o2 ( Amp- s^2)
0. 012 ! R2 ( Ohms/ Amps^2)
Li ne 3 i s t he mot or r esi st ance const ant t er m.
Li ne 4 i s t he no- l oad cur r ent const ant t er m ( i ndependent of RPM)
Li ne 5 i s t he r pm/ Vol t speed const ant .
Li ne 6 i s t he Amp/ N- mt or que const ant . Theor et i cal l y t hi s shoul d be t he same as Kv.
Li ne 7 i s t he magnet i c l ag t i me.
Li ne 8 i s t he no- l oad cur r ent l i near t er m ( pr opor t i onal t o RPM)
Li ne 8 i s t he no- l oad cur r ent quadr at i c t er m ( pr opor t i onal t o RPM^2)
Li ne 9 i s t he mot or r esi st ance quadr at i c coef f i ci ent , model i ng r esi st i ve heat i ng ef f ect .
Pr ogr amExecut i on
=================
QPROP can be r un i n many di f f er ent modes.
Some possi bl e execut i on commands ar e:
%qpr op pr opf i l e mot or f i l e Vel Rpm[ Vol t dBet a Thr ust Tor que Amps Pel e ] ( si ngl e- poi nt )
%qpr op pr opf i l e mot or f i l e Vel 1, Vel 2, dVel Rpm[ " ] ( mul t i - poi nt 1- par amet er sweep
over Vel , Rpmset )
%qpr op pr opf i l e mot or f i l e Vel 1, Vel 2/ nVel Rpm[ " ] ( mul t i - poi nt 1- par amet er sweep
over Vel , Rpmset )
%qpr op pr opf i l e mot or f i l e Vel 1, Vel 2, dVel 0 Vol t [ " ] ( mul t i - poi nt 1- par amet er sweep
over Vel , Vol t set )
%qpr op pr opf i l e mot or f i l e Vel 1, Vel 2, dVel Rpm1, Rpm2, dRpm [ " ] ( mul t i - poi nt 2- par amet er sweep
over Vel and Rpm)
%qpr op pr opf i l e mot or f i l e r unf i l e ( mul t i - poi nt , vi a f i l e
speci f i cat i on)
The " pr opf i l e" and " mot or f i l e" ar gument s ar e st r i ngs gi vi ng t he f i l enames
of t he i nput f i l es descr i bed above. The r emai ni ng ar gument s ar e number s,
as wi l l be descr i bed bel ow.
Si ngl e- poi nt r un
- - - - - - - - - - - - - - - -
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The f ol l owi ng Uni x synt ax i s used f or a si ngl e- poi nt r un:
%qpr op pr opf i l e mot or f i l e Vel RpmVol t dBet a Thr ust Tor que Amps Pel e
The par amet er s af t er and i ncl udi ng " Vol t " ar e opt i onal .
So a command coul d be as shor t as
%qpr op pr opf i l e mot or f i l e Vel Rpm
I n ei t her case, onl y t he one poi nt i s comput ed, and a det ai l ed r adi al out put i s gener at ed.
The ar gument s st ar t i ng wi t h " Vel " ar e used as f ol l ows:
1) " Vel " i s al ways used as gi ven.
2) The next nonzer o ar gument i n t he l i st ( except f or " dBet a" ) i s used as gi ven.
3) " dBet a" , whi ch i s t he pi t ch- change angl e i n degr ees, i s al ways used as gi ven,
( assumed zer o i f omi t t ed)
For exampl e, t he command
%qpr op pr opf i l e mot or f i l e 4. 0 0 0 0. 0 0 0. 03
( Vel RpmVol t dBet a Thr ust Tor que Amps Pel e )
speci f i es
Vel = 4. 0 m/ s
Rpm = unspeci f i ed
Vol t = unspeci f i ed
dBet a = 0. 0 deg
Thr ust = unspeci f i ed
Tor que = 0. 03 N- m
Amps = unspeci f i ed
Pel e = unspeci f i ed
As anot her exampl e, t he command
%qpr op cam6x3 s400- 6v- dd 0. 0 0 8. 0
whi ch cor r esponds t o one of t he poi nt s i n t he mul t i - poi nt case, speci f i es
Vel = 0. 0 m/ s
Rpm = unspeci f i ed
Vol t = 8. 0 V
dBet a = 0. 0 deg
and wi l l pr oduce t he f ol l owi ng out put :
# Gr aupner CAM 6x3 f ol der
#
# Speed- 400 3321 ( 6V) di r ect dr i ve
# 0. 31000 R ( Ohm)
# 0. 77000 I o ( Amp)
# 2760. 0 Kv ( r pm/ Vol t )
#
# r ho = 1. 2250 kg/ m^3
# mu = 0. 17800E- 04 kg/ m- s
# a = 340. 00 m/ s
#
# 1 2 3 4 5 6 7 8 9 10
11 12 13 14 15 16 17 18 19
#
# V( m/ s) r pm Dbet a T( N) Q( N- m) Pshaf t ( W) Vol t s Amps ef f mot
ef f pr op adv CT CP DV( m/ s) ef f Pel ec Ppr op cl _avg
cd_avg
# 0. 000 0. 1402E+05 0. 000 3. 377 0. 2992E- 01 43. 94 8. 000 9. 4184 0. 5831
0. 0000 0. 00000 0. 1005E- 07 0. 2968E- 10 0. 4416 0. 0000 75. 35 0. 000 0. 7742
0. 3801E- 01
#
# r adi us chor d bet a Cl Cd Re Mach ef f i ef f p Wa( m/ s)
Aswi r l adv_wake
0. 0202 0. 0170 26. 380 1. 1945 0. 15286 33356 0. 084 0. 0000 0. 6657 7. 843 15. 97
0. 1926E- 02
0. 0225 0. 0173 24. 311 1. 1970 0. 12900 38003 0. 094 0. 0000 0. 6965 8. 413 15. 32
0. 2053E- 02
0. 0248 0. 0175 22. 471 1. 1985 0. 11105 42391 0. 103 0. 0000 0. 7210 8. 922 14. 69
0. 2165E- 02
0. 0271 0. 0175 20. 856 1. 1960 0. 06964 46406 0. 113 0. 0000 0. 7995 9. 358 14. 06
0. 2258E- 02
0. 0293 0. 0173 19. 442 1. 1445 0. 06168 50050 0. 123 0. 0000 0. 8025 9. 551 13. 16
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0. 2287E- 02
0. 0316 0. 0171 18. 191 1. 1011 0. 05578 53264 0. 133 0. 0000 0. 8031 9. 701 12. 35
0. 2308E- 02
0. 0339 0. 0167 17. 065 1. 0632 0. 05121 56095 0. 143 0. 0000 0. 8021 9. 815 11. 61
0. 2322E- 02
0. 0362 0. 0163 16. 026 1. 0280 0. 04748 58627 0. 153 0. 0000 0. 7998 9. 895 10. 93
0. 2330E- 02
0. 0385 0. 0159 15. 037 0. 9927 0. 04421 60982 0. 164 0. 0000 0. 7967 9. 942 10. 30
0. 2331E- 02
0. 0408 0. 0156 14. 071 0. 9555 0. 04119 63257 0. 174 0. 0000 0. 7929 9. 956 9. 714
0. 2326E- 02
0. 0431 0. 0152 13. 130 0. 9171 0. 03848 65428 0. 184 0. 0000 0. 7882 9. 939 9. 163
0. 2315E- 02
0. 0453 0. 0149 12. 219 0. 8785 0. 03609 67434 0. 194 0. 0000 0. 7823 9. 892 8. 644
0. 2298E- 02
0. 0476 0. 0145 11. 344 0. 8406 0. 03407 69203 0. 204 0. 0000 0. 7750 9. 817 8. 153
0. 2274E- 02
0. 0499 0. 0141 10. 511 0. 8044 0. 03242 70646 0. 214 0. 0000 0. 7659 9. 716 7. 688
0. 2246E- 02
0. 0522 0. 0137 9. 726 0. 7705 0. 03114 71668 0. 224 0. 0000 0. 7549 9. 590 7. 246
0. 2212E- 02
0. 0545 0. 0132 8. 988 0. 7393 0. 03019 72248 0. 234 0. 0000 0. 7420 9. 442 6. 826
0. 2174E- 02
0. 0568 0. 0127 8. 296 0. 7103 0. 02950 72435 0. 244 0. 0000 0. 7273 9. 276 6. 430
0. 2132E- 02
0. 0591 0. 0122 7. 647 0. 6834 0. 02902 72295 0. 254 0. 0000 0. 7110 9. 097 6. 056
0. 2088E- 02
0. 0613 0. 0117 7. 039 0. 6582 0. 02871 71907 0. 264 0. 0000 0. 6931 8. 911 5. 706
0. 2043E- 02
0. 0636 0. 0111 6. 469 0. 6345 0. 02852 71363 0. 274 0. 0000 0. 6741 8. 721 5. 380
0. 1997E- 02
0. 0659 0. 0106 5. 937 0. 6125 0. 02847 70566 0. 284 0. 0000 0. 6537 8. 526 5. 074
0. 1951E- 02
0. 0682 0. 0100 5. 449 0. 5951 0. 02883 68690 0. 294 0. 0000 0. 6301 8. 296 4. 769
0. 1896E- 02
0. 0705 0. 0091 5. 014 0. 5857 0. 02999 64640 0. 303 0. 0000 0. 6002 7. 988 4. 440
0. 1824E- 02
0. 0728 0. 0078 4. 638 0. 5886 0. 03271 57189 0. 313 0. 0000 0. 5584 7. 537 4. 055
0. 1720E- 02
0. 0751 0. 0060 4. 329 0. 6110 0. 03893 45098 0. 324 0. 0000 0. 4919 6. 824 3. 557
0. 1555E- 02
Thi s gi ves det ai l ed aer odynami c char act er i st i cs of t he bl ade al ong t he r adi us.
The f i r st t hr ee col umns ar e i nt er pol at ed f r om t he i nput geomet r y dat a i n t he pr op f i l e,
and can be pl ot t ed and checked f or smoot hness. The r emai ni ng col umns ar e comput ed
vi a t he pr opel l er aer odynami c model .
Cl = l ocal bl ade ai r f oi l l i f t coef f i ci ent . The i nner r adi i ar e st al l ed at t he CLmax l i mi t
Cd = l ocal bl ade pr of i l e dr ag coef f i ci ent . Not e t he l ar ge Cd at t he st al l ed st at i ons.
Re = l ocal chor d Reynol ds number , whi ch i nf l uences t he Cd.
Ma = l ocal Mach number . Thi s modi f i es t he Cl and Cd f unct i ons.
ef f i = l ocal i nduced ef f i ci ency. Thi s i s by def i ni t i on zer o f or a st at i c case.
ef f p = l ocal pr of i l e ef f i ci ency.
Wa = l ocal axi al pr opwash vel oci t y.
Aswi r l = pr owash angl e f r om axi al
adv_wake = l ocal wake advance r at i o ( somewhat ar cane) .
I f t hi s out put i s dumped i nt o a f i l e, GnuPl ot can be used t o pl ot i t .
For exampl e,
%qpr op cam6x3 s400- 6v- dd 0. 0 0. 8. 0 > out . dat
%gnupl ot
gnupl ot > pl ot " out . dat " u 1: 2 w l i nesp
gnupl ot > pl ot " out . dat " u 1: 3 w l i nesp
gnupl ot > pl ot " out . dat " u 1: 4 w l i nesp
gnupl ot > pl ot " out . dat " u 1: 10 w l i nesp
wi l l pl ot t he i nt er pol at ed chor d and bl ade angl e di st r i but i ons,
and al so t he l ocal cl and pr opwash vel oci t y.
Mul t i - poi nt r uns
- - - - - - - - - - - - - - - -
For mul t i - poi nt r uns, one or mor e of t he f our numer i cal ar gument s i s
r epl aced by t he f ol l owi ng const r uct s:
Vel r epl aced by Vel 1, Vel 2, dVel
Rpm r epl aced by Rpm1, Rpm2, dRpm
Vol t r epl aced by Vol t 1, Vol t 2, dVol t
http://web.mit.edu/drela/Public/web/qprop/qprop_doc.txt[8/18/2014 11:08:17 AM]
Dbet a r epl aced by Dbet a1, Dbet a2, dDbet a
.
.
Vel r epl aced by Vel 1, Vel 2/ NVel
Rpm r epl aced by Rpm1, Rpm2/ NRpm
Vol t r epl aced by Vol t 1, Vol t 2/ NVol t
Dbet a r epl aced by Dbet a1, Dbet a2/ NDbet a
.
.
et c.
The const r uct s i ndi cat e a r ange of i ndi vi dual par amet er val ues. For exampl e,
5. 0, 10. 0, 1. 0 - > 5. 0 6. 0 7. 0 8. 0 9. 0 10. 0
0. 0, 1. 0/ 10 - > 0. 0 0. 1 0. 2 0. 3 0. 4 0. 5 0. 6 0. 7 0. 8 0. 9 1. 0
Not e t hat t he st ep si ze can be gi ven di r ect l y, as " , 1. 0" above,
or i ndi r ect l y vi a t he number of i nt er val s, as " / 10" above.
The out put wi l l now consi st of t he oper at i ng par amet er s f or al l combi nat i ons
of t he speci f i ed par amet er s t hus speci f i ed. For t he f i l es used as exampl es above,
%qpr op cam6x3 s400- 6v- dd 0. 0, 12. 0/ 6 0. 0 7. 0 0. 0
t he f ol l owi ng out put i s pr oduced:
# QPROP Ver si on 1. 20
#
# Gr aupner CAM 6x3 f ol der
#
# Speed- 400 3321 ( 6V) di r ect dr i ve
# 0. 31000 R ( Ohm)
# 0. 77000 I o ( Amp)
# 2760. 0 Kv ( r pm/ Vol t )
#
# r ho = 1. 2250 kg/ m^3
# mu = 0. 17800E- 04 kg/ m- s
# a = 340. 00 m/ s
#
# 1 2 3 4 5 6 7 8 9 10
11 12 13 14 15 16 17 18 19
#
# V( m/ s) r pm Dbet a T( N) Q( N- m) Pshaf t ( W) Vol t s Amps ef f mot
ef f pr op adv CT CP DV( m/ s) ef f Pel ec Ppr op cl _avg
cd_avg
0. 000 0. 1259E+05 0. 000 2. 712 0. 2454E- 01 32. 36 7. 000 7. 8635 0. 5879
0. 0000 0. 00000 0. 1001E- 07 0. 3019E- 10 0. 3957 0. 0000 55. 04 0. 000 0. 7713
0. 4079E- 01
2. 400 0. 1263E+05 0. 000 2. 480 0. 2440E- 01 32. 26 7. 000 7. 8210 0. 5893
0. 1845 0. 00060 0. 9099E- 08 0. 2983E- 10 0. 0297 0. 1087 54. 75 5. 953 0. 6983
0. 3701E- 01
4. 800 0. 1271E+05 0. 000 2. 220 0. 2405E- 01 32. 02 7. 000 7. 7203 0. 5925
0. 3328 0. 00120 0. 8035E- 08 0. 2901E- 10 0. 0133 0. 1972 54. 04 10. 66 0. 6135
0. 3432E- 01
7. 200 0. 1286E+05 0. 000 1. 939 0. 2347E- 01 31. 60 7. 000 7. 5534 0. 5977
0. 4417 0. 00178 0. 6861E- 08 0. 2769E- 10 0. 0078 0. 2640 52. 87 13. 96 0. 5213
0. 3272E- 01
9. 600 0. 1307E+05 0. 000 1. 640 0. 2260E- 01 30. 94 7. 000 7. 3013 0. 6053
0. 5088 0. 00234 0. 5613E- 08 0. 2579E- 10 0. 0049 0. 3080 51. 11 15. 74 0. 4248
0. 3213E- 01
12. 000 0. 1338E+05 0. 000 1. 326 0. 2137E- 01 29. 94 7. 000 6. 9476 0. 6156
0. 5314 0. 00286 0. 4336E- 08 0. 2330E- 10 0. 0032 0. 3271 48. 63 15. 91 0. 3276
0. 3256E- 01
wher e. . .
V = ai r speed
r pm = pr op r pm
Dbet a = pi t ch change i n degr ees
T = pr opel l er t hr ust
Q = pr opel l er t or que
Pshaf t = shaf t power = Q*w , w = r pm*pi / 30
Vol t s = mot or vol t age
Amps = mot or cur r ent
http://web.mit.edu/drela/Public/web/qprop/qprop_doc.txt[8/18/2014 11:08:17 AM]
ef f mot = mot or ef f i ci ency = Pshaf t / ( Vol t s*Amps)
ef f pr op= pr op ef f i ci ency = TV/ Pshaf t
adv = advance r at i o = V/ ( w*R)
CT = t hr ust coef f i ci ent = T / ( 0. 5 r ho ( wR) ^2 pi R^2)
CP = t or que coef f i ci ent = Q / ( 0. 5 r ho ( wR) ^2 pi R^3)
DV = sl i pst r eam vel oci t y i ncr ement
ef f = over al l dr i ve ef f i ci ency = ef f mot *ef f pr op
Pel ec = el ect r i cal power = Amps*Vol t s
Ppr op = pr op power = V*T
cl _avg = power - wei ght ed aver age of l ocal cl ( r )
cd_avg = power - wei ght ed aver age of l ocal cd( r )
The par amet er t abl e f or mat above can be dumped i nt o a f i l e and pl ot t ed i n GnuPl ot .
For exampl e,
%qpr op cam6x3 s400- 6v- dd 0. 0, 12. 0/ 6 0. 0 7. 0 0. 0 > out . dat
%gnupl ot
gnupl ot > pl ot " out . dat " u 1: 4 w l i nesp
wi l l gener at e l i nes of Thr ust vs Ai r speed f or t he f i xed vol t age of 7V. Al t er nat i vel y,
t he f i l e can al so be i mpor t ed i nt o a spr eadsheet f or pl ot t i ng.
Mor e t han one ar gument can be gi ven a r ange const r uct . Wi t h t he command
%qpr op cam6x3 s400- 6v- dd 0. 0, 12. 0/ 7 0. 0 5. 0, 9. 0, 1. 0 0. 0
t he f ol l owi ng out put i s pr oduced:
# QPROP Ver si on 1. 20
#
# Gr aupner CAM 6x3 f ol der
#
# Speed- 400 3321 ( 6V) di r ect dr i ve
# 0. 31000 R ( Ohm)
# 0. 77000 I o ( Amp)
# 2760. 0 Kv ( r pm/ Vol t )
#
# r ho = 1. 2250 kg/ m^3
# mu = 0. 17800E- 04 kg/ m- s
# a = 340. 00 m/ s
#
# 1 2 3 4 5 6 7 8 9 10
11 12 13 14 15 16 17 18 19
#
# V( m/ s) r pm Dbet a T( N) Q( N- m) Pshaf t ( W) Vol t s Amps ef f mot
ef f pr op adv CT CP DV( m/ s) ef f Pel ec Ppr op cl _avg
cd_avg
0. 000 9497. 0. 000 1. 531 0. 1474E- 01 14. 66 5. 000 5. 0289 0. 5828
0. 0000 0. 00000 0. 9928E- 08 0. 3186E- 10 0. 2973 0. 0000 25. 14 0. 000 0. 7663
0. 4920E- 01
2. 000 9529. 0. 000 1. 384 0. 1461E- 01 14. 58 5. 000 4. 9917 0. 5840
0. 1900 0. 00067 0. 8920E- 08 0. 3137E- 10 0. 0199 0. 1109 24. 96 2. 769 0. 6855
0. 4460E- 01
4. 000 9598. 0. 000 1. 217 0. 1433E- 01 14. 40 5. 000 4. 9107 0. 5865
0. 3379 0. 00133 0. 7726E- 08 0. 3033E- 10 0. 0088 0. 1982 24. 55 4. 866 0. 5906
0. 4131E- 01
6. 000 9710. 0. 000 1. 031 0. 1387E- 01 14. 11 5. 000 4. 7800 0. 5903
0. 4386 0. 00197 0. 6398E- 08 0. 2870E- 10 0. 0050 0. 2589 23. 90 6. 187 0. 4868
0. 3961E- 01
8. 000 9878. 0. 000 0. 8302 0. 1320E- 01 13. 65 5. 000 4. 5839 0. 5956
0. 4865 0. 00258 0. 4978E- 08 0. 2637E- 10 0. 0030 0. 2898 22. 92 6. 641 0. 3778
0. 3950E- 01
10. 000 0. 1011E+05 0. 000 0. 6148 0. 1224E- 01 12. 97 5. 000 4. 3087 0. 6019
0. 4741 0. 00315 0. 3517E- 08 0. 2334E- 10 0. 0018 0. 2854 21. 54 6. 148 0. 2680
0. 4098E- 01
12. 000 0. 1043E+05 0. 000 0. 3863 0. 1098E- 01 11. 99 5. 000 3. 9440 0. 6080
0. 3866 0. 00366 0. 2079E- 08 0. 1970E- 10 0. 0009 0. 2350 19. 72 4. 635 0. 1623
0. 4370E- 01
0. 000 0. 1109E+05 0. 000 2. 094 0. 1947E- 01 22. 60 6. 000 6. 3961 0. 5889
0. 0000 0. 00000 0. 9967E- 08 0. 3088E- 10 0. 3478 0. 0000 38. 38 0. 000 0. 7687
0. 4437E- 01
2. 000 0. 1112E+05 0. 000 1. 925 0. 1935E- 01 22. 52 6. 000 6. 3615 0. 5901
0. 1710 0. 00057 0. 9115E- 08 0. 3053E- 10 0. 0276 0. 1009 38. 17 3. 851 0. 7002
0. 4055E- 01
4. 000 0. 1118E+05 0. 000 1. 735 0. 1908E- 01 22. 35 6. 000 6. 2858 0. 5925
0. 3106 0. 00114 0. 8119E- 08 0. 2977E- 10 0. 0125 0. 1840 37. 72 6. 940 0. 6208
0. 3775E- 01
6. 000 0. 1129E+05 0. 000 1. 528 0. 1866E- 01 22. 06 6. 000 6. 1645 0. 5964
http://web.mit.edu/drela/Public/web/qprop/qprop_doc.txt[8/18/2014 11:08:17 AM]
0. 4157 0. 00169 0. 7020E- 08 0. 2858E- 10 0. 0073 0. 2479 36. 99 9. 169 0. 5344
0. 3600E- 01
8. 000 0. 1144E+05 0. 000 1. 307 0. 1804E- 01 21. 61 6. 000 5. 9848 0. 6019
0. 4838 0. 00223 0. 5844E- 08 0. 2689E- 10 0. 0047 0. 2912 35. 91 10. 46 0. 4432
0. 3524E- 01
10. 000 0. 1165E+05 0. 000 1. 073 0. 1718E- 01 20. 96 6. 000 5. 7350 0. 6092
0. 5120 0. 00273 0. 4625E- 08 0. 2467E- 10 0. 0031 0. 3119 34. 41 10. 73 0. 3502
0. 3551E- 01
12. 000 0. 1194E+05 0. 000 0. 8280 0. 1604E- 01 20. 04 6. 000 5. 4051 0. 6181
0. 4957 0. 00320 0. 3401E- 08 0. 2196E- 10 0. 0020 0. 3064 32. 43 9. 936 0. 2584
0. 3673E- 01
0. 000 0. 1259E+05 0. 000 2. 712 0. 2454E- 01 32. 36 7. 000 7. 8635 0. 5879
0. 0000 0. 00000 0. 1001E- 07 0. 3019E- 10 0. 3957 0. 0000 55. 04 0. 000 0. 7713
0. 4079E- 01
2. 000 0. 1262E+05 0. 000 2. 520 0. 2444E- 01 32. 29 7. 000 7. 8349 0. 5888
0. 1561 0. 00050 0. 9262E- 08 0. 2995E- 10 0. 0361 0. 0919 54. 84 5. 040 0. 7114
0. 3781E- 01
4. 000 0. 1268E+05 0. 000 2. 310 0. 2419E- 01 32. 12 7. 000 7. 7601 0. 5912
0. 2877 0. 00100 0. 8404E- 08 0. 2933E- 10 0. 0166 0. 1701 54. 32 9. 238 0. 6428
0. 3505E- 01
6. 000 0. 1278E+05 0. 000 2. 082 0. 2379E- 01 31. 83 7. 000 7. 6464 0. 5948
0. 3923 0. 00149 0. 7459E- 08 0. 2842E- 10 0. 0100 0. 2333 53. 52 12. 49 0. 5682
0. 3340E- 01
8. 000 0. 1292E+05 0. 000 1. 841 0. 2321E- 01 31. 41 7. 000 7. 4797 0. 5999
0. 4688 0. 00197 0. 6451E- 08 0. 2712E- 10 0. 0066 0. 2813 52. 36 14. 73 0. 4895
0. 3241E- 01
10. 000 0. 1312E+05 0. 000 1. 588 0. 2242E- 01 30. 80 7. 000 7. 2498 0. 6068
0. 5158 0. 00243 0. 5401E- 08 0. 2541E- 10 0. 0046 0. 3130 50. 75 15. 88 0. 4086
0. 3213E- 01
12. 000 0. 1338E+05 0. 000 1. 326 0. 2137E- 01 29. 94 7. 000 6. 9476 0. 6156
0. 5314 0. 00286 0. 4336E- 08 0. 2330E- 10 0. 0032 0. 3271 48. 63 15. 91 0. 3276
0. 3256E- 01
0. 000 0. 1402E+05 0. 000 3. 377 0. 2992E- 01 43. 94 8. 000 9. 4184 0. 5831
0. 0000 0. 00000 0. 1005E- 07 0. 2968E- 10 0. 4416 0. 0000 75. 35 0. 000 0. 7742
0. 3801E- 01
2. 000 0. 1404E+05 0. 000 3. 163 0. 2983E- 01 43. 87 8. 000 9. 3913 0. 5839
0. 1442 0. 00045 0. 9382E- 08 0. 2949E- 10 0. 0452 0. 0842 75. 13 6. 326 0. 7205
0. 3539E- 01
4. 000 0. 1411E+05 0. 000 2. 933 0. 2958E- 01 43. 70 8. 000 9. 3208 0. 5860
0. 2685 0. 00090 0. 8625E- 08 0. 2900E- 10 0. 0211 0. 1573 74. 57 11. 73 0. 6599
0. 3291E- 01
6. 000 0. 1420E+05 0. 000 2. 684 0. 2921E- 01 43. 43 8. 000 9. 2132 0. 5893
0. 3708 0. 00135 0. 7792E- 08 0. 2826E- 10 0. 0129 0. 2185 73. 71 16. 11 0. 5938
0. 3139E- 01
8. 000 0. 1433E+05 0. 000 2. 424 0. 2867E- 01 43. 03 8. 000 9. 0570 0. 5939
0. 4507 0. 00178 0. 6905E- 08 0. 2723E- 10 0. 0087 0. 2676 72. 46 19. 39 0. 5243
0. 3033E- 01
10. 000 0. 1451E+05 0. 000 2. 153 0. 2793E- 01 42. 45 8. 000 8. 8431 0. 6001
0. 5072 0. 00219 0. 5980E- 08 0. 2586E- 10 0. 0062 0. 3043 70. 75 21. 53 0. 4525
0. 2979E- 01
12. 000 0. 1475E+05 0. 000 1. 873 0. 2696E- 01 41. 66 8. 000 8. 5633 0. 6081
0. 5395 0. 00259 0. 5035E- 08 0. 2416E- 10 0. 0045 0. 3281 68. 51 22. 48 0. 3800
0. 2978E- 01
0. 000 0. 1539E+05 0. 000 4. 083 0. 3557E- 01 57. 31 9. 000 11. 0507 0. 5762
0. 0000 0. 00000 0. 1009E- 07 0. 2931E- 10 0. 4856 0. 0000 99. 46 0. 000 0. 7772
0. 3578E- 01
2. 000 0. 1541E+05 0. 000 3. 849 0. 3548E- 01 57. 25 9. 000 11. 0248 0. 5769
0. 1345 0. 00041 0. 9486E- 08 0. 2915E- 10 0. 0548 0. 0776 99. 22 7. 698 0. 7284
0. 3343E- 01
4. 000 0. 1546E+05 0. 000 3. 599 0. 3525E- 01 57. 08 9. 000 10. 9579 0. 5788
0. 2522 0. 00082 0. 8805E- 08 0. 2874E- 10 0. 0259 0. 1460 98. 62 14. 40 0. 6738
0. 3116E- 01
6. 000 0. 1555E+05 0. 000 3. 330 0. 3489E- 01 56. 83 9. 000 10. 8554 0. 5817
0. 3516 0. 00123 0. 8056E- 08 0. 2814E- 10 0. 0160 0. 2045 97. 70 19. 98 0. 6143
0. 2976E- 01
8. 000 0. 1568E+05 0. 000 3. 051 0. 3438E- 01 56. 45 9. 000 10. 7079 0. 5858
0. 4323 0. 00162 0. 7261E- 08 0. 2728E- 10 0. 0110 0. 2533 96. 37 24. 41 0. 5517
0. 2871E- 01
10. 000 0. 1585E+05 0. 000 2. 762 0. 3369E- 01 55. 92 9. 000 10. 5071 0. 5913
0. 4939 0. 00201 0. 6432E- 08 0. 2615E- 10 0. 0080 0. 2920 94. 56 27. 62 0. 4870
0. 2804E- 01
12. 000 0. 1607E+05 0. 000 2. 464 0. 3278E- 01 55. 18 9. 000 10. 2456 0. 5985
0. 5359 0. 00238 0. 5580E- 08 0. 2475E- 10 0. 0059 0. 3207 92. 21 29. 57 0. 4213
0. 2779E- 01
Agai n, t he t wo- par amet er t abl e f or mat above can be dumped i nt o a f i l e and pl ot t ed i n GnuPl ot .
For exampl e,
http://web.mit.edu/drela/Public/web/qprop/qprop_doc.txt[8/18/2014 11:08:17 AM]
%qpr op cam6x3 s400- 6v- dd 0. 0, 12. 0/ 7 0. 0 5. 0, 9. 0, 1. 0 0. 0 > out . dat
%gnupl ot
gnupl ot > pl ot " out . dat " u 1: 4 w l i nesp
wi l l gener at e l i nes of Thr ust vs Ai r speed f or t he f i ve vol t ages 5- 9V. Al t er nat i vel y,
t he f i l e can al so be i mpor t ed i nt o a spr eadsheet f or pl ot t i ng.
Oper at i ng- par amet er r un f i l e
- - - - - - - - - - - - - - - - - - - - - - - - - - - -
Thi s opt i onal f i l e speci f i es t he ai r speeds and vol t ages t o be i mposed
on t he pr op/ mot or combi nat i on. The f i l e f or mat i s
0. 0 12. 0 7 ! Vel 1 Vel 2 Nvel ( m/ s)
10000 16000 0 ! Rpm1 Rpm2 Nr pm
5. 0 9. 0 5 ! Vol t 1 Vol t 2 Nvol t
- 2. 0 2. 0 3 ! Dbet 1 Dbet 2 NDbet
1) Li ne 1 speci f i es f l i ght vel oci t i es f r om Vel 1 t o Vel 2 i n Nvel sampl es.
For t he exampl e l i ne 1, t he vel oci t i es ar e

Vel = 0 2 4 6 8 10 12 ( m/ s)
2) Li ne 2 speci f i es pr op r pms f r om Rpm1 t o Rpm2 i n Nr pm sampl es:
Speci al act i on i s t aken dependi ng on Nr pm. . .
I f Nr pm=0, t hen Vol t ages ar e set , Rpms ar e comput ed ( Li ne 2 dat a i s i gnor ed)
I f Nr pm>0, t hen Rpms ar e set , Vol t ages ar e comput ed ( Li ne 3 dat a i s i gnor ed)
3) Li ne 3 speci f i es mot or vol t ages f r om Vol t 1 t o Vol t 2, i n Nvol t sampl es.
Thi s vol t age i s si mpl y passed t o SUBR. MOTORQ, and can r epr esent any
power cont r ol par amet er , such as " t hr ot t l e" f or an I C engi ne.
4) Li ne 4 speci f i es bl ade pi t ch change, i n degr ees. Thi s l i ne i s opt i onal .