đồ án về mô hình bay

1. QUADROCOPTER
GVHD: Th.S
SVTH :
MSSV: 06111089
SVTH :
MSSV: 06111096
1 11
i

2. ---o0o---
---o0o---
MSSV: 06111089
MSSV: 06111096
61111
1.1.
BAY QUADROCOPTER
1.2.
- Quad
- Quadrocopter
- LabVIEW
1. : 30/08/2010
2. 21/01/2011
3. .
4. ThS.
.....................
....................................................
...........................................
.........................................
....................................
ii

3. g
TP. 11
Th.S
iii

4. N
TP. ng 11
Th.S
iv

5. ,
- ,
trong
hoa C
B h p t P.HCM
V , , ,
- ,
.
01 01 11
v

6. Quad Quadrotor H
(Inertial
) hai
PID
cho
vi

7. 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 (Inertial
Measurement 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.
vii

8. 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
viii

9. 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 87
P V ATmega128 88
ix

10. -rex 600 1
1
2
Quadrocopter 2
Quadrocopter 3
4
- Richet Gyroplane No.1 5
Quad 5
6
6
- 7
- 8
8
9
9
- 10
11
Quad 11
Quad 12
Quadrocopter 14
15
15
16
16
2.6 Yaw 17
17
Quadrocopter 20
25
28
29
2.12 31
32
32
33
x

11. 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 57
8 57
xi

12. 9 58
20 Brushless motor FC2835-10T 59
21 -1060Rx3 59
2 60
23 ESC HiModel GX-40A 60
4 ESC Hobbywing Pentium 30A 61
5 61
6 62
7 62
H 8 63
64
66
67
67
68
68
68
68
68
69
70
71
71
72
72
73
76
8 2 76
77
78
79
80
81
82
5 83
xii

13. 57
58
-10T 59
HiModel GX-40A 60
A 61
74
75
xiii

14. I. :
X m xE
Y m yE
Z m zE
rad
rad
rad
u m/s xB
v m/s yB
w 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 v E
VB m/s vector B
B
m/s2 v B
B
rad/s vector B
rad/s2
- E
-
- vector v theo
-
- vector v n t c t
-
xiv

15. -
E
F N theo
FB N theo
FGE N
B
F G 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 th ng uH
OB ( ) - B
OH ( ) - H
CB ( ) -
CH ( ) - H
S(... ) -
rad/s
1 rad/s
2 rad/s
3 rad/s
4 rad/s
TMT N
TBET N
xv

16. 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 i t
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-1 2
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)
xvi

17. d N m s2 1.1 x 10-6
g m/s 2 9.81 gia t
J TP Nms2 104x10-6
l m 0.22 Quad
m kg 1.365 Quadrocopter
NB - 2
A kg/m3 29
xvii

18. 1.1 nhau gi Quadrocopter [1]
(Quadrocopter, Quadrotor hay Quad
- - -
, gi
sau:
1.1.1
Quad
-rex 600
1

19. 3 Helicopter
Quad
- -
Quadrocopter
- - -
-
Quad
Quadrocopter.
2

20. Quad
Quad
nh.
Quad
5 Quadrocopter
-sau:
- :
- :t 4
-
-
-
-sau).
1.1.2
Quad
(gyroscope) (accelero-
meter)
Quad
Quad
3

21. Quad
1.2
1.2.1 Quadrocopter
C
Quadro-
copter
1.6
Quadrocopter
Charles Richet
Richet Gyroplane No.1
y-
-
Quadrocopter
75Kg
-
.5m.
4

22. nh 1.7 Breguet- Richet Gyroplane No.1
Quadrocopter 8
2
Quadrocopter
.
1.8 Quad
5

23. Quadrocopter
Quadrocopter
1956, Convertawings l t
Oemichen G. de Bothezat .
B theo
song song.
. hai
. hai
xoay .
Convertawings Model A
Quad
, Quadrocopter v
[14]
bay .
6

24. 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-
7

25. Khung MD4-
-
-
-
12 -
13
c Parrot
AR. -
,
b
8

26. Augmented
14
d MikroKopter [13]
15
-
Quad
9

27. 1.2.3 trong
a. Quadrocopter
t .HCM
- .HCM.
16 M -
Theo PGS- - .HCM,
[12]
b. Quadrocopter t
Quad
Quad
scope
10

28. 17
c. Quadrocopter
Quad
-
Quad
,
H cho
8 Quadroto H
scope
11

29. 9 Quad K Q
,
.
1.3
Quadrocopter
v.v Do trong
-
Quadrocopter.
-
-
-
12

30. c
- Quadrocopter l
PWM.
- (gyroscope accelerometer)
Quad
.
1.4
:
-
-
-T h
:
-
Quadrocopter.
- .
-
- LabVIEW.
13

31. 2.1 Quadrocopter [2]
Quadrocopter
(front) (back)
(right) (left)
oment 4
Quadrocopter
(throttle up/down) xoay (roll)
.
(yaw) i so v
sau Quadrocopter
.
, Quadrocopter
motor
Quadrocopter
Quadrocopter.
Quadrocopter:
14

32. Quad
2 Quadrocopter.
a. Hover: Quad
1 = 2 = 3 = 4 = H).
2 Hover
b. Throttle: Quad
Quad
3 Throttle
+ b.
H
A H Quad
A
Quadrocopter.
c. Roll: Quad
moment c Xb
15

33. 4 Roll
+ b.
H
A B A B H.
d. Pitch: Quadrocopter bay lui
b.
5 Pitch
+ : quanh b.
H
A B A B H.
e. Yaw: Quadrocopter b theo
sau 2 , 2
Quadrocopter quay quanh tr c Zb theo
quay)
quanh tr c Zb theo
16

34. 6 Yaw
:
+ b.
H
A B A B H.
2.2 Quadrocopter [2]
2.2.1
7
-
E E
[m] [rad] Quadrocopter.
- Quadrocopter, d
V B [m/s], v B
[rad/s], [N], v
moment [Nm] Quadrocopter.
17

35. OE: g c .
xE:
yE:
zE: (xE,yE
OB: g Quadrocopter.
xB: Quadrocopter.
yB: Quadrocopter.
zB:
E
- Vector v [m] E B:
T
E = [X Y Z ] (2.1)
E
- [rad]
T
E (2.2)
E E
=> :
=[ E E] T = [X Y Z ]T (2.3)
- V B [m/s]:
V B = [u v w ] T (2.4)
B
- [rad/s]:
B
= [p q r] T (2.5)
=> :
B T
= [V B ] = [u v w p q r] T (2.6)
-V
R , T
J .
- R
R = R( , z) R( , y) R( , x) = (2.7)
ck = cos k, sk = sin k, t k = tan k.
Xoay E (yaw): = (2.8)
18

36. 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 .V B (2.14)
-
T :
B
=T . (2.15)
19

37. 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/s2]
[m/s2]
[-]
I. =
=> I. =T .
=> I. + x (I. )= T . (2.17)
I [Nms2]
[rad/s2] vector
[rad/s2] vector
20

38. hai 2.16 2.17),
:
+ = (2.18)
I3 3 3x3.
FB ent
Quadrocopter.
2.2.3 Newton-Euler
:
.
.
2.13)
=J (2.13)
J
E E
Quadrocopter
=[ E E] T = [X Y Z ]T (2.3)
V B [m/s B
[rad/s
Quadrocopter
B T
= [V B ] = [u v w p q r] T (2.6)
nt J
J = (2.12)
Ma tr n quay R n chuy n v T
R = (2.7)
T = (2.11)
21

39. 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)
MB
CB ( )
2.21
MB = = (2.21)
MB the
2.22
CB ( ) = =
(2.22)
k theo
2.23):
T
(k) = = (2.23)
2.20
Quad
Quadrocopter.
Quadrocopter.
22

40. GB (
2
(2.24)
GB ( ).
B 1 T
GB ( ) = FG = R FGE = R = (2.24)
FGB FGE
R R 1
RT .
hai
Quadrocopte
(2.25):
4
OB ( )
J TP
k 1
=
J TP
J TP (2.25)
OB ( J TP
104x10-6 Nms2)
(2.26) [rad/s]
[rad/s] 2.25):
= 1 + 2 3+ 4 = (2.26)
1 .
2 .
3 .
4
ba
23

41. moment
2
EB UB
2 2
b [Ns ] d [Nms ]
sau.
(2.27)
Quadrocopter:
2
UB EB = = (2.27)
Quadrocopter
, ,
moment .
EB (2.28):
EB = (2.28)
T 2.20 ng l c h c Quadrocopter
2.29):
2
MB + CB ( ) = GB ( ) + OB ( ) + EB (2.29)
S px pl 2.29 nt ct
theo h tr c B:
2
= MB ( CB ( ) + GB ( ) + OB ( ) + EB ) (2.30)
u th i d ng h
J TP
(2.31)
J TP
24

42. (2.32)
IXX, IYY , IZZ c c:
Id ch chuy n = I + MD2
v i M [Kg] ng c a v t th .
D [m] d ch chuy n c a v t th so v i tr .
=> IXX = M (W2/12 + H2/12) + M (DY2 + DZ2)
IYY = M (L2/12 + H2/12) + M (DX2 + DZ2)
IZZ = M (W2/12 + L2/12) + M (DX2 + DY2)
9
H th ng h c c a Quadrocopter h 2.31 c vi t trong
h tr c B c c p, tham chi c s d ng r
ng 6 b c t ng h h
ng l c h c n k t h p gi h tr
tr c bi u
di n trong h tr c m i, t m g tr um c
ch ng l c h c k t h p v u khi n (nh
th ng c a h tr (2.33) bi u di n vector v n t c t ng
tr c H :
B T
=[ E ] = [X Y Z ]T (2.33)
H th ng l c h tr c vi t l i d ng ma tr n theo
(2.34):
2
MH + CH ( ) = GH + OH ( + EH ( (2.34)
ct tr c H.
Ma tr th tr c H MH b ng v i ma tr
h tr 2.21 2.35):
25

43. M H = MB = = (2.35)
i, ma tr H CH ( ) ng v i ma
tr n Coriolis tr 2.36):
CH ( ) = = (2.36)
Vector h p d tr c H GH
(2.37 th nc
ng h c.
E
GH = FG = (2.37)
u ng con quay h i chuy i, b ch
tr c B. Ma tr t h i chuy
theo h tr 2.25 2.38).
OH ( = OB ( )
J TP
J TP (2.38)
Ma tr n chuy tr c H EH tr
nc n quay . K t qu c
ma tr n chuy ng v i t c ch 2.39):
2 2
EH ( = EB = (2.39)
S px pl 2.34 nt ct
theo h tr c H:
2
= MH ( CH ( ) + G H + OH ( ) + EH ( ) ) (2.40)
26

44. X
Y
Z
J TP (2.41)
J TP
-Euler c Quadrocopter.
qu tr c 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]
27

45. p- [Pa]
p1 [Pa] .
p2 [Pa]
p+ [Pa]
10
1 2).
TMT = A(p1 p2 )
TMT = A (v- - v+ ) = A A v1 (v- - v+ )
A [m2
A
A [kg/m3
1
v2 -
sau:
2 2
p- + A v- = p1 + A v1
2 2
p2 + A v2 = p+ + A v+
+ = p-
v1 = (v+ + v- )/2
vI = (v1 v- ) = (v+ v- )/2
28

46. TMT =2 A A v1 vI
v- = 0, suy ra v1 = vI
MT = Wp =
WP = 2 A A vI2 vI = [m/s]
[-
= vI / ( H RP).
H P
2.11
11
I [rad]
T
29

47. vT [m/s] H V
I t
dDBET
dLBET
dFBET [N/m] BET BET
dFBET
dTBET ngang dHBET[N/m].
v
H
vv = vI = P RP
vH = P r= P RP (r/ RP)
P
2
dLBET = 0.5 A vH CL c dr.
2
dLBET = 0.5 A vH CD c dr.
CL[- D[-
L a [rad-1
-1
a ].
CL = a =a ( I I)
Io
t Itw
I = Io - Itw
I:
I =
dLBET = A vH2a ( Io - Itw - ) c dr
theo dTBET
I
dTBET = dLBET cos I - dDBET sin I dLBET
TBET
dTBET B [-] l B
).
30

48. 2
TBET = NB (dTBET / dr)dr = NB Aa c P RP3 Io/6 - Itw/8 - /4).
ngang dHBET
I
dHBET = dDBET cos I + dLBET sin I dDBET + dLBET
BET
BET
QBET [Nm] = NB ((dBBET / dr) + (dLBET / dr) ) r dr
2
= NB Ac P RP4 (CD/8 +a Io/6 - Itw/8 - /4)
c. c
qua
12
.
.
31

49. [3] [4]
2.3
g.
3
4
32

50. BLDC cho
.
Electronic Speed Controller)
, pha.
BLDC, n rotor
5
ESC
50Hz.
6
33

51. 7
-
- 1 (xung
BEMF Back ElectroMagnetic Field pulses).
xung BEMF.
34

52. 8
[13]
9
. Khi
35

53. g
moment
[5] [6]
2.4
2.4.1
X(k)=S(k)+N(k)
M
k 1
N (k )
0
M
M M
X (k ) S (k )
k 1 k 1
2.4.2
"A New Approach to Linear Filtering and Prediction Problems"
36

54. trong
.
.
accelerometer gyroscope.
2.20
:
2.21
37

55. 2.4.3
Kalman x
2.22
2.22
2.4.4
xk A * xk 1 B * uk 1 w k 1 (1)
z k H * xk vk (2)
A -
x
A
B u u
l.
38

56. w~N(0,Q)
v ~N(0,R)
.
tr
ek xk xk
ek xk xk
c:
Pk E ek ek T
T
Pk E ek ek
sau:
xk xk K * zk H * xk (3)
H * xk
ek K * z k H * x k
k k k theo K, ta
k
Kk Pk H T ( HPk H T R) 1
Kk
1-
2-
39

57. ta xk 1 -
uk 1
(g x0 H z0 ta
2.23.
2.23
2.4.5
2.24 Bode
40

58. 2.25
, gyroscope, ...
41

59. .
2.5 - LabVIEW
2.5.1 LabVIEW
LabVIEW (
National Instruments,
. LabVIEW
,...
(
LabVIEW
y
sinh, v.v
LabVIEW:
-
-
LabVIEW
42

60. -
-
Lab,...
-
LabVIEW.
- ...
2.5.2 LabVIEW
LabVIEW VI (Virtual Instrument).
*. Front Panel Block Diagram.
2.27 Front P D LabVIEW
LabVIEW :
- Panel):
LabVIEW (controls) (indicators)
43

61. 2.28 Front panel
Controls = Inputs
Indicators = Outputs
,
trong
2.29 trong Front Panel
- Diagram):
.
44

62. 30 Block Diagram
, Block Diagram funtions)
Panel.
31
LabVIEW i
32 LabVIEW
45

63. QUADROCOPTER
3.1
RS-232
Thu RF
ESCs
Pin Lipo
Joysticks
Khung
Motors
Quadrocopter
:
Pin 9V
:
:
- Volt
roll pitch
- Quadrocopter
-
46

64. 3.2
thanh
Quadrocopter
Quadrocopter
o.
Quadrocopter
l hanh
D / .
thanh 20mm = 254mm),
.0mm
.
k
Quadrocopter phay CNC
.
3.2
,
47

65. Sau m
khi
3.3
Quad
-
48

66. - prop saver
-
3.4
3.5
49

67. 3.6
3.7
3.8
50

68. -
40%
,
Newton-Euler
3.9
3.3
:
-
-
-
Quadrocopter
51

69. 3.3.1
3.10
(Spread Spectrum
3.11
52

70. 3.12
-
3.3.2
53

71. 3.14
-
-
- - .
-
54

72. 55

73. 3.16
ATmega
ATmega8 MHz ra
Baud khi UART,
, ATmega
ATmega
-
-bit.
56

74. .
3.17
3.3.3 Module RF
915MHz UART 8-bit,
19200bps, c .
3.18 Module RF UART
3.1
57

75. 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
2000 o/s 1.5 g
00 o/s
440 o/s 6.0 g
0.5 mV/ o/s 800 mV/g
3.3 mV/ o/s
2.27 mV/ o/s 206 mV/g
4.5 KHz 25 KHz 6.0 KHz
/ / 400 Hz
,
. Tuy
ra
gyroscope
.
58

76. 3.3.5
T
FC2835-10T
1.2Kg.
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
59

77. 22 EPP1045
Quad er).
tractor , Quad
.
-
cho
[9]
: cho
.
BLDC
3.23 ESC HiModel GX-40A
3.4 T ESC HiModel GX-40A
STT
1 (Volt)
2
3 BEC (battery eliminator circuit) 2A / 5V
4 8KHz
5 Programmable No
60

78. 3.24 ESC Hobbywing Pentium 30A
3.5 T Hobbywing Pentium 30A
STT
1 5.6 6.8 (Volt)
2
3 BEC (battery eliminator circuit) 2A / 5V
4 8KHz
5 Programmable Yes
brushless DC motor:
ESC
.0 .0
.0 .0ms.
ATmega12 2 Timer 16- 6
, BLDC
Quadrocopter .
.
3.4
Sai
, =0 PWM Quadro- ,
_ ESC
PID 3 copter
pha
IMU
3.25
61

79. 3.26
.
,
3.27
62

80. pitch, roll
:
Start
(throttle, roll, pitch, yaw)
(roll, pitch, yaw)
3.28
63

81. 4.1. Quadrocopter
4.1.1 X o [10]
Vector
).
ra
t
sinXZ = 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 Rz
ng ADC 10-bit:
Rx = (ADC_Rx * Vref / 1023 VzeroGx) / Sensitivity
Ry = (ADC_Ry * Vref / 1023 VzeroGy) / Sensitivity
Rz = (ADC_Rz * Vref / 1023 VzeroGz) / Sensitivity
gyroscope :
RateAxz = (ADC_GyroXZ * Vref / 1023 VzeroRatexz) / Sensitivity
RateAyz = (ADC_GyroYZ * Vref / 1023 VzeroRateyz) / Sensitivity
64

82. 4.1.2 Kalman
: [11]
{
// Inputs
u = gyros;
y = angle;
// Update the state estimate
// x = A * x + B * u
x_00 += (A_01 * x_10) + (B_00 * u);
// Compute the innovation -- error between measured value and state
// inn = y - c * x
inn_00 = y - x_00;
// Compute the covariance of the innovation
// s = C * P * C' + Sz
s_00 = P_00 + Sz;
// Compute AP matrix for use below
// AP = A * P
AP_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 * inn
x_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;
// Output
return = x_00;
}
65

83. 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
66

84. 4.2. LabVIEW [7] [8]
4.2.1
3 LabVIEW
ATmega LabVIEW
4 LabVIEW
67

85. 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
68

86. 4.2.2 Quadrocopter
Quadrocopte 4
hai pitch, roll.
4.10 Quadrocopter
Quad
69

87. :
4.11 Quad
Quadrocopter.
70

88. 4.12 Block Diagram c
i sub VI:
- VI Artificial Horizon /Roll
4.13 ial Horizon
71

89. -K : Quad
4.14
Node
rong LabVIEW c 3D
LabVIEW.
5 3D
72

90. 4.3.
4.3.1 Motor
Thrust
Motor Motor Motor
E-4 E-4 E-4
90o
1Kg
Balance
Scale
16
o
khung Quadrocopter .
HiModel GX-40A,
motor FC2835-10T GWS EP-1060Rx3. ATmega Timer 16-
Phase and Frequency Correct, gi
ESC. [15]
Hobbywing Pentium
30 sang EPP1045. ATmega Timer 16-
Fast PWM 2 4
.
Sau
73

91. 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 9
50 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
74

92. 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 14
130 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 15
230 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 15
330 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 HiModel GX-
75

93. 1100
1150
1200
1250
1300
1350
1400
1450
1500
2100
2300
2700
2900
2500
3100
10 10
30 30
50
50
70
70
90
90
110
18
17
110
Back
Back
130
130 150
150 170
170 190
Front
Front
210
76
190
230
210
250
230
Right
270
Right
250 290
270 310
290 330
Left
Left
310 350
370
330
390
350
410
370
430
390 450

94. -
- ,
- Hobbywing Pentium 30
1045.
4.3.2
19
Trong Quad
yaw
cho
-
- Ziegler
-
- Cohen Coon:
77

95. ,
Ziegler
- .
-
0
gi
.0
20
78

96. 21 roll
.
o
.
,
79

97. 22 I pitch
80

98. 23 ID roll
81

99. -
-
-
- 10o 10o .
o
- Khi g .
24
c. t chung
-
- ot t p
o
.
- ,
82

100. 25 Quadrocopter
Trong
.
83

101. 5
5.1.
Quadrocopter.
-
-
-
-
-
-
Quad
-
-
-
- LabVIEW
84

102. 5.2.
-
-
-
-
5.3.
- Quadrocopter
.
.
.
.
.
v.v...
-
wifi
-
Quadrocopte
85

103. [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 A
Matlab/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
86

104. A
B NV QUADROCOPTER
87

105. V ATMEGA128
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
88

106. ATmega , -bit
ATmega128
B.1 ADC trong ATmega128
Trong ATmega -bit.
ADCL.
-
.
89

107. -
- - -bit
-700KHz - so
10-bit).
bit
B.2
- Free running: ,
- Single conversion:
1/ ADC Multiplexer Selection Register ADMUX: thanh ghi o analog.
2/ ADC Control and Status Register A ADCSRA:
3/ The ADC Data Register ADCL ADCH:
WizardAVR ,
-
- xung clock,
(8-bit, 10-bit)
90

108. B.2 USART trong ATmega128
B.2.1
USART (Universal Synchronous and Asynchronous serial Receiver and
Transmitter - b t n n t b v b b )
- : (Trans
-
B.2.2 ATmega128
ATmega
91

109. SART
Clock Generation, Transmitter, Receiver.
parity errors.
1/ Internal Clock Generation The USART Baud Rate Generator UBRR: thanh ghi
.
2/ USART I/O Data Register UDRn:
3/ USART Control and Status Register A UCSRnA
4/ USART Control and Status Register B UCSRnB
5/ USART Control and Status Register C UCSRnC
6/ USART Baud Rate Registers UBRRnL UBRRnH:
92

110. 5 UART
-
.
- /
.
B.3 PWM trong ATmega128
ATmega -bit
-bit.
(Timer/Counter).
- BOTTOM: b Timer/Counter
- MAX: Timer/Counter
Timer/Counter 8-bit MAX 16-bit MAX
- TOP: khi Timer/Counter
MAX, TOP thanh
ghi
93

111. Timer/Counter 1 (Timer/Counter 3 ):
1/ Timer/Counter 1 Control Register A TCCR1A:
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: k
Timer/Counter 1.
2/ Timer/Counter 1 Control Register B TCCR1B:
Bit 2:0 CS12:0: Clock Select: imer/Counter.
94

112. 3/ Timer/Counter1 TCNT1H TCNT1L: t
16-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 A OCR1AH OCR1AL
Output Compare Register 1 B OCR1BH OCR1BL
Output Compare Register 1 B OCR1CH OCR1CL
-
ng xung ng
5/ Input Capture Register 1 ICR1H ICR1L: thanh ghi Input C
TOP
6/ Timer/Counter Interrupt Mask Register TIMSK:
Ba (PWM) imer/Counter 1:
- Fast PWM: 1 BOTTOM
TOP BOTTOM
6
Fast PWM 1, 8, 64, 256, 1024):
- Phase Correct PWM: (hight resolution).
, BOTTOM TOP
BOTTOM. H
Fast PWM. ICRn X.
95

113. 7
Phase Correct PWM:
- Phase and Frequency Correct PWM
BOTTOM TOP
8
96

114. Phase Correct PWM:
- Hai c PWM .
-T
ast PWM.
- F thanh ghi ICRn, ta
.
CodeWizardAVR:
9 PWM
- .
- non- .
- 20ms (50Hz n=39999.
-
.
97