DATN quadrocopter

8/3/2019 DATN quadrocopter

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QUADROCOPTER

GVHD: Th.S

SVTH : MSSV: 06111089

SVTH : MSSV: 06111096

1 11


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---o0o---

---o0o---

MSSV: 06111089 MSSV: 0611109661111

1.1.

BAY QUADROCOPTER

1.2.

- Quad

- Quadrocopter

- LabVIEW

1.: 30/08/20102. 21/01/20113.. 4. ThS.

..................... ....................................................

........................................................................................................................


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g

TP. 11

Th.S


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N

TP. ng 11

Th.S


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v

,

- , trong

hoa C

Bhp tP.HCM

V, , ,- , .

01 01 11


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Quad Quadrotor H

(Inertial)hai

PIDcho


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ABSTRACT

A Quadrocopter, also called a Quadrotor Helicopter, is an aircraft that is lifted by

four rotors on a cross-shaped frame.

We succeeded in building a Quadrocopter with stiff and lightweight structure.

Our Quadrocopter in-flight dynamics was measured via an IMU (InertialMeasurement Unit) which equipped with a dual-axis gyroscope and a three axis tilt-

sensor. A microcontroller took these sensor inputs and performed PID control

algorithm on the four motors by varying PWM signals sent to each of the motors.


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i

ii

iii iv

v

vi

Abstract vii

viii

x

xiii

xiv

1.1 Quadrocopter 1

1

3

1.2 4

1.2.1 Quadrocopter 4

1.2.2 7

1.2.3 10

1.3 12

1.4 13

2:

2.1 Quadrocopter 14

2.2 Quadrocopter 17

2.2.1 17

2.2.2 20

2.2.3 -Euler 21

2.2.4 27

2.3 32

2.4 36

2.4.1 36

2.4.2 ? 36

2.4.3 38


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2.4.4 38

2.4.5 40

2.5 - LabVIEW 42

2.5.1 LabVIEW 42

2.5.2 LabVIEW 43

QUADROCOPTER

3.1 46

3.2 47

3.3 51

3.3.1 52

3.3.2 53

3.3.3 Module RF 57

3.3 58

3.3.5 59

3.4 61

4.1 Quadrocopter 64

4.1.1 X 64

4.1.2 T 65

4.1.3 X 66

4.2 LabVIEW 67

4.2.1 67

4.2.2 69

4.3 73

4.3.1 Motor 73

77

5.1 84

5.2 85

5.3 85

86

Quadrocopter 87P VATmega128 88


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x

-rex 600 1

1

2Quadrocopter 2

Quadrocopter 3

4

- Richet Gyroplane No.1 5

Quad 5

6

6

- 7

- 8

8

9

9

- 10

11

Quad 11Quad 12

Quadrocopter 14

15

15

16

16

2.6 Yaw 17 17

Quadrocopter 20

25

28

29

2.12 31

32

32

33


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xi

33

34

35

35

37 37

38

40

40

41

LabVIEW 42

LabVIEW 43

44

44

45

m 45

LabVIEW 45

46

2 47 48

49

49

50

50

50

51

10 52

1 52

2 53

53

4 54

5 55

6 56

7 578 57


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9 58

20 Brushless motor FC2835-10T 59

21 -1060Rx3 59

2 60

23 ESC HiModel GX-40A 604 ESC Hobbywing Pentium 30A 61

5 61

6 62

7 62

H8 63

64

66 67

67

68

68

68

68

68

69

70

71

71

72

72

73

768 2 76

77

78

79

80

81

82

5 83


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57

58

-10T 59

HiModel GX-40A 60

A 61

74

75


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I. :

X m xE

Y m yE

Z m zE

rad

rad

rad

u m/s xB

v m/s yBw m/s zB

p rad/s xB

q rad/s yB

r rad/s zB

E m E

E m E

E m/s2

E rad E

E rad/s E

rad/s2

VE m/s vector vE

VB m/s vector B

B m/s2 vB

B rad/s vector B

rad/s

2

- E

-

- vector v theo

-

- vector vn tc t

-


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xv

-

FE

N theo

FB

N theo E

GF

N

B

GF N

GB() -

GH -

UB -

U1 N

U2 Nm

U3 Nm

U4 Nm B

B Nm moment theo

R -

T -

J -

EB - B

EH() - H

MB -

MH - ma tr thng u H

OB () - B

OH() - H

CB() -

CH() - HS(.. .) -

rad/s 1 rad/s 2 rad/s 3 rad/s

4 rad/s

TMT N

TBET N


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QBET Nm A kg/s p1 Pa

p2 Pa

p Pa p- Pa

v1 m/s

v2 m/s

vI m/s

v m/s

v- m/s

vV m/s vH m/s it

P rad/s

dDBET N/m

dLBET N/m

dFBET N/m c

dTBET N/m

dHBET N/m I rad

Io rad

Itw rad

I rad

II.

a rad

-12

A m2

75.5 x 10-3

b N s2

54,2 x 10-6

bBET N s2

54,2 x 10-6

bMT N s2

54,2 x 10-6

c m 0.02

CD - 0.05 CL - 0.05 (lift)


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d N m s2

1.1 x 10-6

g m/s2

9.81 gia t

TPJ Nms

2 104x10-6

l m 0.22 Quad

m kg 1.365 Quadrocopter

NB - 2

A kg/m3

29


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1.1 nhau giQuadrocopter [1]

(Quadrocopter, Quadrotor hay Quad---, gi sau:

1.1.1

Quad

-rex 600


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3 Helicopter

Quad--

Quadrocopter

--- - Quad

Quadrocopter.


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Quad

Quad

nh.Quad

5 Quadrocopter

-sau:

-:

-: t 4

-

---sau).1.1.2

Quad (gyroscope) (accelero-meter)

Quad

Quad


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Quad

1.2 1.2.1 Quadrocopter

C

1.6

Quadrocopter Charles Richet Richet Gyroplane No.1y--Quadrocopter 75Kg -

.5m.

Quadro-

copter


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nh 1.7 Breguet- Richet Gyroplane No.1

Quadrocopter 82Quadrocopter .

1.8 Quad


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Quadrocopter

Quadrocopter

1956, Convertawings l t Oemichen G. de Bothezat .B theo song song. . hai . hai xoay .

Convertawings Model A

Quad, Quadrocopter v bay . [14]


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1.2.2

Quadrocopter

a-anfly Innovations [1]

11 -Innovations

-

-

-

-

-

-

-

-[1]

(Vertical Take Off and Landing Autonomous Unmanned Micro Aerial Vehicle) hay

AAHRS ( Altitude and Attitude and H

MD4-


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Khung MD4--

-

-

12 -

13

cParrot

AR.- ,

b


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Augmented

14

dMikroKopter[13]

15 -

Quad


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1.2.3 trong a. Quadrocopter

t.HCM - .HCM.

16 M-

Theo PGS- - .HCM,

b. Quadrocopter t[12]

QuadQuad

scope


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17

c.Quadrocopter

Quad - Quad

, H cho

8 QuadrotoH

scope


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9 QuadKQ

, .

1.3 Quadrocopter

v.vDo trong

- Quadrocopter.

---


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c

- Quadrocopter l PWM.

- (gyroscope accelerometer) Quad .

1.4 :

-

-

- Th

:

- Quadrocopter.

- .

-

- LabVIEW.


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2.1 Quadrocopter [2]

Quadrocopter

(front) (back) (right) (left) oment 4 Quadrocopter (throttle up/down) xoay (roll) . (yaw) i so vsau Quadrocopter.

, Quadrocopter motor Quadrocopter

Quadrocopter.

Quadrocopter:


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Quad2Quadrocopter.

a. Hover: Quad1 = 2 = 3 = 4 = H).

2 Hover

b. Throttle: QuadQuad

3 Throttle

+ b.HAHQuad

AQuadrocopter.

c. Roll: Quad moment c Xb


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4 Roll

+

b.

HABABH.

d. Pitch:Quadrocopter bay lui b.

5 Pitch

+ : quanh b.HABABH.

e. Yaw:Quadrocopter b theo sau2 , 2 Quadrocopter quay quanh trc Zb theo quay) quanh trc Zb theo


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6 Yaw

:+ b.HABABH.

2.2 Quadrocopter [2]2.2.1

7 -

E[m] E [rad] Quadrocopter.

- Quadrocopter, d VB [m/s], vB [rad/s], [N], vmoment [Nm] Quadrocopter.


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OE: gc . xE: yE: zE: (xE,yE O

B: gQuadrocopter.

xB: Quadrocopter. yB: Quadrocopter. zB:

- Vector vE [m] EB :

E = [X Y Z ]T

(2.1)

- E [rad]

E

T(2.2)

=> EE :

= [E E]T = [X Y Z ]

T(2.3)

- VB [m/s]:

VB = [u v w ]T

(2.4)

-

B

[rad/s]:

B = [p q r]T

(2.5)

=> :

= [VBB]

T= [u v w p q r]

T(2.6)

- V

R, T

J.

- R

R = R(, z) R(, y) R(, x) = (2.7)

ck = cosk, sk = sin k, tk= tan k.

XoayE (yaw): = (2.8)


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1 (pitch): R(, y)= (2.9)

2 (roll): R(, x)= (2.10)

- T :

T = (2.11)- J :

J = (2.12)3x3

- J : =J . (2.13)

-

VE = E =R .VB (2.14)

- T:

=T .B (2.15)


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2.2.2

Quadrocopter.

8 Quadrocopter

m.E = FE

=> m. = R.FB

=> m(

) = R.FB

=> m( ) = R.FB=>

m( ) =FB (2.16)

m [kg] Quadrocopter.

FE

[N] v

E [m/s

2]

[m/s

2]

[-] I. =

=> I. =T.

=> I. +x (I.)= T. (2.17)

I [Nms2]

[rad/s2] vector

[rad/s2] vector


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hai 2.162.17), :

+ = (2.18)

I33 3x3.F

Bent

Quadrocopter.

2.2.3 Newton-Euler

:

.

.

2.13)

= J (2.13)

J

E E Quadrocopter

= [E E]T = [X Y Z ]

T(2.3)

VB [m/sB[rad/sQuadrocopter

= [VBB] T = [u v w p q r] T (2.6)

n tJ

J =

(2.12)Ma trn quay Rn chuyn vT

R = (2.7)T =

(2.11)


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2.18):

+ = (2.18)

OB

I

Quadrocopter

2.19):

=[ ] T = [Fx Fy Fz x y z]T (2.19)2.18

MB +CB() = (2.20)

MBCB()

2.21

MB =

=

(2.21)

MBthe

2.22

CB ( ) = =

(2.22)k theo

2.23):

T

(k) = = (2.23)

2.20

Quad Quadrocopter. Quadrocopter.


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GB(2

(2.24)GB().

GB() = BGF = 1R EGF = T

R

=

(2.24)

BGF E

GF

R 1R

TR

.

hai

Quadrocopte(2.25):

OB

() 41

TP

k

J

= TPJ TPJ (2.25)

OB ( TPJ 104x10-6 Nms2)

(2.26)

[rad/s]

[rad/s] 2.25):

= 1+23+4 = (2.26)1.2.3.

4

ba


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moment EB2 UBb [Ns2]d [Nms2 ] sau.

(2.27)

Quadrocopter:

UBEB2 =

=

(2.27)

Quadrocopter

,

,

moment .

EB(2.28):

EB =

(2.28)

T2.20 ng lc hc Quadrocopter 2.29):

MB +CB() = GB() + OB () + EB 2 (2.29)

Sp xp l2.29n tc ttheo h trc B:

= MB(CB() +GB() + OB ( ) + EB 2) (2.30)

u thi dng h

TPJ

TPJ

(2.31)


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(2.32)

IXX, IYY , IZZc c:

Idch chuyn = I + MD2

vi M [Kg] ng ca vt th.D [m] dch chuyn ca vt th so vi tr.

=> IXX = M (W2/12 + H

2/12) + M (DY

2+ DZ

2)

IYY = M (L2/12 + H

2/12) + M (DX

2+ DZ

2)

IZZ = M (W2/12 + L

2/12) + M (DX

2+ DY

2)

9

H thng hc ca Quadrocopter h2.31c vit trongh trc B c cp, tham chic s dng rng 6 bc tng h hng lc hc n kt hp gih tr

trc biudin trong h trc mi, tm g tr u mc

chng lc hc kt hp vu khin (nhthng ca h tr(2.33) biu din vector vn tc tng trc H :

= [E B]T = [XYZ]

T(2.33)

H thng lc h trc vit li dng ma trn theo(2.34):

MH +CH() = GH + OH(+EH(2 (2.34)

c t trc H.

Ma tr th trc H MH bng vi ma trh tr2.212.35):


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MH = MB = =

(2.35)

i, ma tr H CH() ng vi matrn Coriolis tr2.36):

CH() = =

(2.36)

Vector hp d trc H GH

(2.37 thn c ng hc.

GH = EGF

=

(2.37)

u ng con quay hi chuyi, bch trc B. Ma trt hi chuytheo h tr2.252.38).

OH( =OB () TP

J TPJ

(2.38)

Ma trn chuy trc H EH tr

n cn quay . Kt qu c

ma trn chuyng vi tc ch2.39):

EH(2 =

EB 2 =

(2.39)

Sp xp l2.34n tc ttheo h trc H:

= MH(CH() +GH + OH() +EH() 2) (2.40)


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X Y Z

TPJ

TPJ

(2.41)

-Euler cQuadrocopter.

qu trc B,c cho 2.32).

2.2.4

- - MT)

- - BET)

g

-

-

-

-

-

TMT [N]

v- [m/s]

v1 [m/s]

v2 [m/s] v+ [m/s]


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p- [Pa]

p1 [Pa] .

p2 [Pa]

p+ [Pa]

10

1 2).TMT = A(p1p2)

TMT = A (v- - v+) = A A v1 (v- - v+) A [m2 A

A [kg/m3

1

v2 -sau:

p- +A v-2 = p1 + A v12

p2 +A v22 = p+ + A v+2

+ = p-

v1 = (v++ v-)/2

vI = (v1v-) = (v+v-)/2


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TMT =2 A A v1 vI

v- = 0, suy ra v1 = vI

MT = Wp =

WP = 2A A vI2 vI =

[m/s]

[-

= vI / (H RP).

HP

2.11

11

I [rad]

T


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vT [m/s] H V

I t

dDBET

dLBET dFBET [N/m] BET BET

dFBETdTBETngang dHBET[N/m].

v

H

vv = vI = P RP

vH = P r = P RP (r/ RP)

P

dLBET = 0.5 A vH2CL c dr.

dLBET = 0.5 A vH2CD c dr.

CL[-D[-

L a [rad-1

a-1].

CL = a =a (II)

Io tItw

I = Io - Itw

I:

I =

dLBET =A vH2a (Io - Itw -) c dr

theo dTBET I

dTBET = dLBET cos I - dDBET sin I dLBET

TBETdTBET B [-] lB).


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TBET = NB (dTBET / dr)dr = NBA a c P2 RP3Io/6 - Itw/8 - /4). ngang dHBET

I

dHBET = dDBET cos I + dLBET sin I dDBET + dLBET

BETBET

QBET [Nm] = NB ((dBBET / dr) + (dLBET / dr) ) r dr= NBA c P

2RP

4(CD/8 +a Io/6 - Itw/8 - /4)

c. c

qua

12

.

.


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2.3 [3] [4]

g.

3

4


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BLDC cho. Electronic Speed Controller)

, pha.

BLDC, nrotor

5

ESC 50Hz.

6


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7

-

- 1 (xungBEMFBack ElectroMagnetic Field pulses).

xung BEMF.


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8

9 [13]

. Khi


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g

moment

2.4 [5] [6]2.4.1

X(k)=S(k)+N(k)

0)(

1

M

kNM

k

M

k

M

k

kSkX11

)()(

2.4.2

"A New Approach to Linear Filtering and Prediction Problems"


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trong.

.

accelerometer gyroscope.

2.20

:

2.21


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2.4.3

Kalman x

2.22

2.22

2.4.4

1 1 1* * w

k k k k x A x B u

(1)

kkkvxHz * (2)

A-xA

Buul .


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w~N(0,Q)

v ~N(0,R)

.

tr

kkkxxe

kkkxxe

c:

TkkkeeEP

TkkkeeEP

sau:

kkkkxHzKxx ** (3)

kxH *

kkkxHzKe **

kkktheo K, tak

1)(

RHHPHPKT

k

T

kk

Kk

1-

2-


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ta 1

k

x -

1ku (g 00 zHx ta 2.23.

2.23

2.4.5

2.24 Bode


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2.25

, gyroscope, ...


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.

2.5 - LabVIEW2.5.1 LabVIEW

LabVIEW (

National Instruments, . LabVIEW ,... (

LabVIEW ysinh, v.v

LabVIEW:

-

-

LabVIEW


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-

- Lab,...

- LabVIEW.

- ...

2.5.2 LabVIEWLabVIEW VI (Virtual Instrument).

*. Front Panel Block Diagram.

2.27 Front PDLabVIEW

LabVIEW :

- Panel):LabVIEW (controls) (indicators)


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2.28 Front panel

Controls = Inputs Indicators = Outputs

, trong

2.29 trong Front Panel

- Diagram):

.


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30 Block Diagram

, Block Diagram funtions)

Panel.

31

LabVIEW i

32 LabVIEW


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46

QUADROCOPTER

3.1

Khung

Quadrocopter

Joysticks

Pin 9V

Pin Lipo

ESCs

Motors

Thu RF

:

:

:

RS-232

- Volt rollpitch

- Quadrocopter

-


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3.2 thanh

Quadrocopter Quadrocopter

o.

Quadrocopter lhanh D/.

thanh 20mm = 254mm),

.0mm.

kQuadrocopterphay CNC .

3.2

,


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Sau m

khi

3.3

Quad

-


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- prop saver

-

3.4

3.5


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-

40%

,Newton-Euler

3.9

3.3 :

-

-

-

Quadrocopter


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3.3.1

3.10

(Spread Spectrum

3.11


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3.12

-

3.3.2


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3.14

-

-

- - .

-


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3.16

ATmegaATmega8 MHz ra

Baud khi UART, , ATmega

ATmega - -bit.


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.

3.17

3.3.3 Module RF 915MHz UART 8-bit,

19200bps, c.

3.18 Module RF UART

3.1


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3.3.4 IMU (Inertial Measurement Unit

, 6 :.

IMU 5 (IDG650) gyro LISY300AL .

3.19 LISY300AL

3.2

LISY300AL IDG650 MMA7361L

3.3 V 3.3 V 3.3 V

00 o/s 2000o/s

440 o/s1.5 g6.0 g

3.3 mV/o/s0.5 mV/

o/s

2.27 mV/o/s

800 mV/g

206 mV/g

4.5 KHz 25 KHz 6.0 KHz

/ / 400 Hz

,. Tuy

ra

gyroscope .


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3.3.5 T

FC2835-10T1.2Kg.

3.20 Brushless motor FC2835-10T

BLDC FC2835-10T

3.3 T-10T

STT

1

2

3 25 (Ampere)

4 1200 (gram)

5 < 10x7 (inch)

21 EP-1060Rx3


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22 EPP1045

Quader). tractor , Quad . -

cho[9]

: cho .

BLDC

3.23 ESC HiModel GX-40A

3.4 TESC HiModel GX-40A

STT

1 (Volt)

2

3 BEC (battery eliminator circuit) 2A / 5V

4 8KHz5 Programmable No


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3.24 ESC Hobbywing Pentium 30A

3.5 THobbywing Pentium 30A

STT

1 5.6 6.8 (Volt)

2

3 BEC (battery eliminator circuit) 2A / 5V4 8KHz

5 Programmable Yes

brushless DC motor:

ESC .0.0

.0.0ms.ATmega12 2 Timer 16-6

, BLDC Quadrocopter .

.

3.4

_

PIDESC

IMU

Quadro-copter

, =0

,

Sai PWM

3pha

3.25


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3.26

.

,

3.27


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pitch, roll

:

Start

(throttle, roll, pitch, yaw)

(roll, pitch, yaw)

3.28


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4.1. Quadrocopter

4.1.1 Xo [10]Vector

).

ra

tsinXZ = sin(Axz) = Rx/ Rxz ; cosZX = cos(Axz) = Rz/ Rxz

sinYZ = sin(Ayz) = Ry/ Ryz ; cosZY = cos(Ayz) = Rz/ Ryz

=> tanXZ = tan(Axz) = sinXZ / cosXZ = Rx/ Rz

tanYZ = tan(Ayz) = sinYZ / cosYZ = Ry/ Rz

=> Axz = arctanXZ = atan2(Rx, Rz)

Ayz = arctanYZ = atan2(Ry, Rz)

Rx Ry RzngADC 10-bit:

Rx = (ADC_Rx * Vref/ 1023VzeroGx) / SensitivityRy = (ADC_Ry * Vref/ 1023VzeroGy) / SensitivityRz = (ADC_Rz * Vref/ 1023VzeroGz) / Sensitivity

gyroscope :RateAxz = (ADC_GyroXZ * Vref/ 1023VzeroRatexz) / SensitivityRateAyz = (ADC_GyroYZ * Vref/ 1023VzeroRateyz) / Sensitivity


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4.1.2 Kalman

: [11]

{// Inputsu = gyros;y = angle;

// Update the state estimate// x = A * x + B * ux_00 += (A_01 * x_10) + (B_00 * u);

// Compute the innovation -- error between measured value and state

// inn = y - c * xinn_00 = y - x_00;

// Compute the covariance of the innovation// s = C * P * C' + Szs_00 = P_00 + Sz;

// Compute AP matrix for use below// AP = A * PAP_00 = P_00 + A_01 * P_10;AP_01 = P_01 + A_01 * P_11;AP_10 = P_10;AP_11 = P_11;

// Compute the kalman gain matrix// K = A * P * C' * inv(s)K_00 = AP_00 / s_00;K_10 = AP_10 / s_00;

// Update the state estimate// x = x + K * innx_00 += K_00 * inn_00;x_10 += K_10 * inn_00;

// Compute the new covariance of the estimation error// P = A * P * A' - K * C * P * A' + Sw

APAT_00 = AP_00 + (AP_01 * A_01);APAT_01 = AP_01;APAT_10 = AP_10 + (AP_11 * A_01);APAT_11 = AP_11;KCPAT_00 = (K_00 * P_00) + (K_00 * P_01) * A_01;KCPAT_01 = (K_00 * P_01);KCPAT_10 = (K_10 * P_00) + (K_10 * P_01) * A_01;KCPAT_11 = (K_10 * P_01);P_00 = APAT_00 - KCPAT_00 + Sw_00;P_01 = APAT_01 - KCPAT_01;P_10 = APAT_10 - KCPAT_10;P_11 = APAT_11 - KCPAT_11 + Sw_11;

// Outputreturn = x_00;}


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4.1.3 Kalman

- = A_01 = B_00-= 0.3 rad = 17.2o

- Q angle = 0.0001

Q gyro = 0.0003

2

accelerometer

con quay gyroscope


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4.2. LabVIEW [7] [8]4.2.1

3 LabVIEW

ATmegaLabVIEW

4 LabVIEW


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SA

- time out, stop bit, VISA resource name ().

4.5 K

- VISA

6 K

- V

4.7 K

4.8 K

Code script Node:

4.9 script Node


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4.2.2 QuadrocopterQuadrocopte 4

hai pitch, roll.

4.10 Quadrocopter

Quad


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:

4.11 Quad

Quadrocopter.


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4.12 Block Diagram c

i sub VI:

- VI Artificial Horizon/Roll

4.13 ial Horizon


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- K: Quad

4.14

Node

rong LabVIEW c 3D LabVIEW.

5 3D


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4.3. 4.3.1 Motor

90o

E-4

Motor

E-4

Motor

E-4

Motor

Scale

1KgBalance

Thrust

16

khung Quadrocoptero.

HiModel GX-40A,motor FC2835-10T GWS EP-1060Rx3. ATmegaTimer 16-

Phase and Frequency Correct, gi

ESC. [15]

Hobbywing Pentium30sang EPP1045. ATmegaTimer 16- Fast PWM 2 4.

Sau


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4.1 (1)

Thrust (g) Front Back Right Left 10 1107 - 1107 - 1107 - 1107 -

20 1123 16 1123 16 1123 16 1123 16

30 1135 12 1134 11 1132 9 1131 8

40 1142 7 1141 7 1140 8 1140 950 1155 13 1148 7 1148 8 1145 5

60 1164 9 1158 10 1156 8 1154 9

70 1172 8 1167 9 1168 12 1164 10

80 1181 9 1173 6 1175 7 1172 8

90 1190 9 1184 11 1184 9 1183 11

100 1202 12 1192 8 1192 8 1188 5

110 1205 3 1203 11 1199 7 1194 6

120 1213 8 1205 2 1204 5 1204 10

130 1227 14 1212 7 1206 2 1208 4

140 1233 6 1218 6 1216 10 1214 6

150 1240 7 1230 12 1233 17 1223 9

160 1253 13 1238 8 1241 8 1237 14

170 1261 8 1250 12 1250 9 1245 8

180 1268 7 1258 8 1260 10 1253 8

190 1270 2 1268 10 1270 10 1261 8

200 1276 6 1273 5 1273 3 1269 8

210 1285 9 1283 10 1281 8 1272 3

220 1294 9 1289 6 1286 5 1280 8

230 1302 8 1297 8 1294 8 1290 10

240 1310 8 1307 10 1302 8 1300 10

250 1323 13 1315 8 1307 5 1317 17

260 1335 12 1328 13 1319 12 1323 6

270 1343 8 1337 9 1330 11 1336 13

280 1357 14 1343 6 1340 10 1341 5

290 1362 5 1355 12 1349 9 1347 6

300 1366 4 1361 6 1354 5 1352 5

310 1368 2 1370 9 1360 6 1359 7

320 1376 8 1379 9 1371 11 1367 8

330 1387 11 1386 7 1380 9 1376 9

340 1398 11 1397 11 1390 10 1385 9

350 1403 5 1402 5 1399 9 1396 11

360 1410 7 1410 8 1409 10 1402 6

370 1415 5 1417 7 1417 8 1418 16

380 1423 8 1425 8 1424 7 1426 8

390 1431 8 1434 9 1430 6 1431 5

400 1440 9 1440 6 1434 4 1437 6

410 1448 8 1445 5 1439 5 1442 5

420 1452 4 1452 7 1448 9 1449 7

430 1462 10 1460 8 1459 11 1454 5

440 1464 2 1467 7 1466 7 1460 6

450 1468 4 1470 3 1471 5 1466 6


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4.2 (2)

Thrust (g) Front Back Right Left 10 2100 - 2214 - 2214 - 2214 -

20 2130 30 2235 21 2235 21 2235 21

30 2160 30 2250 15 2255 20 2255 20

40 2190 30 2270 20 2278 23 2275 20

50 2222 32 2280 10 2285 7 2285 10

60 2255 33 2300 20 2310 25 2300 15

70 2285 30 2320 20 2327 17 2315 15

80 2315 30 2340 20 2343 16 2344 29

90 2345 30 2350 10 2355 12 2355 11

100 2375 30 2370 20 2375 20 2370 15

110 2403 28 2380 10 2390 15 2382 12

120 2430 27 2400 20 2402 12 2396 14130 2455 25 2406 6 2414 12 2410 14

140 2485 30 2412 6 2430 16 2420 10

150 2510 25 2430 18 2443 13 2435 15

160 2530 20 2445 15 2460 17 2452 17

170 2560 30 2465 20 2477 17 2470 18

180 2590 30 2480 15 2495 18 2480 10

190 2620 30 2495 15 2510 15 2500 20

200 2645 25 2510 15 2525 15 2520 20

210 2670 25 2528 18 2541 16 2535 15

220 2696 26 2539 11 2550 9 2550 15230 2715 19 2550 11 2568 18 2570 20

240 2740 25 2570 20 2580 12 2584 14

250 2770 30 2590 20 2605 25 2600 16

260 2800 30 2605 15 2625 20 2620 20

270 2825 25 2620 15 2640 15 2640 20

280 2855 30 2635 15 2655 15 2656 16

290 2885 30 2652 17 2673 18 2670 14

300 2915 30 2670 18 2683 10 2677 7

310 2945 30 2675 5 2695 12 2690 13

320 2975 30 2690 15 2710 15 2705 15330 3010 35 2705 15 2725 15 2720 15

340 3040 30 2730 25 2740 15 2737 17

350 3070 30 2750 20 2757 17 2759 22

360 3100 30 2770 20 2777 20 2772 13

370 3120 20 2790 20 2797 20 2786 14

380 3150 30 2802 12 2810 13 2805 19

390 3180 30 2816 14 2822 12 2820 15

400 3200 20 2832 16 2832 10 2832 12

ESC Hobbywing Pentium 30A ESC HiModelGX-


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17

18

1100

1150

1200

1250

1300

1350

1400

1450

1500

10

30

50

70

90

110

130

150

170

190

210

230

250

270

290

310

330

350

370

390

410

430

450

Back Front Right Left

2100

2300

2500

2700

2900

3100

10

30

50

70

90

110

130

150

170

190

210

230

250

270

290

310

330

350

370

390

Back Front Right Left


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77

-

- ,

- Hobbywing Pentium 301045.

4.3.2

19

Trong Quad

yaw

cho

-

- Ziegler

-

- CohenCoon:


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78

, Ziegler

- .

-

0gi

.0

20


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21 roll

.o.

,


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80

22 Ipitch


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23 ID roll


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-

-

-

- 10o10o.

- Khi go.

24

c. t chung

-

- o tt p o.

- ,


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25 Quadrocopter

Trong

.


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5

5.1.

Quadrocopter.

--

-

--

-Quad

-

-

-

- LabVIEW


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5.2.

-

-

-

-

5.3. -Quadrocopter . . .

.

.v.v...

- wifi

-Quadrocopte


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[1] ,TP.HCM, 10/2009.

[2] Tommaso Bresciani, Modelling, Identification and Control of a Quadrotor

Helicopter, Lund University, Sweden, 10/2008.

[3]

[4] BLDC Motor Modelling and Control AMatlab/Simulink Implementation, Chalmers University, Sweden, 05/2005.

[5]

07/2009.

[6] .

[7] Prentice Hall, LabVIEW for Everyone: Graphical Program Made Easy and

Fun, Third Edition, 27/07/2006.

[8] National Instruments, LabVIEW Basics I & II Course Manual version 6.0,

09/2010.

[9] RC Groups, Quadrocopter and Tricopter Info Mega Link Index, 12/2010.URL http://www.rcgroups.com/forums/showthread.php?t=1097355

[10] Starlino,A Guide To using IMU (Accelerometer and Gyroscope Devices) in

Embedded Applications, 12/2010.

URL http://www.starlino.com/imu_guide.html

[11] SparkFun Electronics, Help with implementing Kalman filter for IMU 5?,

09/2010.

URL http://forum.sparkfun.com/viewtopic.php?t=6186

[12] .

URL http://www.clbmohinh.com/forum/[13] MikroKopter, 01/2011.

URL http://www.mikrokopter.de/

https://www.mikrocontroller.com/

[14] Multicopter Wiki,Multicopter Table, 12/2010.

URL http://multicopter.org/wiki/Multicopter_Table

[15] Machine Intelligence Laboratory, Generating PWM signals using Timers in

the ATmega chip, 08/2010.

URL http://mil.ufl.edu/~achamber/servoPWMfaq.html


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A

BN VQUADROCOPTER


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VATMEGA128

module gyro e ATmega128

- Flash: 128 Kbytes- EEPROM: 4Kbytes- SRAM: 4Kbytes- 64 thanh ghi I/O- - - -bit (Timer/Counter 0,2)- -bit (Timer/Counter 1,3)- - - - -bit -bit )- -bit- -bit- - - - WI- - - - V - 5.5V


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ATmega, -bit

ATmega128

B.1 ADC trong ATmega128Trong ATmega -bit.

ADCL.

-

.


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- ---bit -700KHz -so10-bit). bit

B.2

- Free running: ,

- Single conversion:

1/ ADC Multiplexer Selection RegisterADMUX:thanh ghi o analog.

2/ ADC Control and Status Register AADCSRA:

3/ The ADC Data RegisterADCL ADCH:

WizardAVR ,

-

- xung clock,

(8-bit, 10-bit)


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B.2 USART trong ATmega128B.2.1

USART (Universal Synchronous and Asynchronous serial Receiver and

Transmitter - btnntbvbb)

- : (Trans

-

B.2.2 ATmega128ATmega


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92

SART

Clock Generation, Transmitter, Receiver. parity errors.

1/ Internal Clock Generation The USART Baud Rate GeneratorUBRR: thanh ghi.

2/ USART I/O Data RegisterUDRn:

3/ USART Control and Status Register AUCSRnA

4/ USART Control and Status Register BUCSRnB

5/ USART Control and Status Register CUCSRnC6/ USART Baud Rate RegistersUBRRnL UBRRnH:


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93

5 UART

- .

- /.

B.3 PWM trong ATmega128ATmega-bit

-bit.

(Timer/Counter).

- BOTTOM: bTimer/Counter

- MAX: Timer/Counter Timer/Counter 8-bit MAX 16-bit MAX

- TOP: khi Timer/Counter MAX, TOP thanh

ghi


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94

Timer/Counter 1 (Timer/Counter 3 ):

1/ Timer/Counter 1 Control Register ATCCR1A:

Bit 7:2 COMnX1:0 (X= A,B,C): Compare Output Mode for channel X: OCnB, OCnC (n=1,3).

Bit 1:0 WGMn1:0: Waveform Generation Mode: kTimer/Counter 1.

2/ Timer/Counter 1 Control Register BTCCR1B:

Bit 2:0CS12:0: Clock Select: imer/Counter.


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3/ Timer/Counter1TCNT1H TCNT1L: t16-bit thanh ghi TCNT1L. Thanh ghi. (n=1,3) ghi OCRnX (n=1,3. X=A,B,C)

4/ Output Compare Registers:

Output Compare Register 1 AOCR1AH OCR1AL

Output Compare Register 1 BOCR1BH OCR1BL

Output Compare Register 1 BOCR1CH OCR1CL

-ng xung ng

5/ Input Capture Register 1 ICR1H ICR1L: thanh ghi Input C

TOP 6/ Timer/Counter Interrupt Mask RegisterTIMSK:

Ba (PWM) imer/Counter 1:

- Fast PWM:1 BOTTOMTOP BOTTOM

6

Fast PWM 1, 8, 64, 256, 1024):

- Phase Correct PWM: (hight resolution). , BOTTOM TOP BOTTOM. H Fast PWM. ICRn X.


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7

Phase Correct PWM:

- Phase and Frequency Correct PWMBOTTOM TOP

8


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Phase Correct PWM:

- Hai c PWM.

- Tast PWM.

- F thanh ghi ICRn, ta.

CodeWizardAVR:

Documents

DATN quadrocopter