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Build a simple quadcopter
1.
建立簡易四軸飛行器 Build a Simple
Quadcopter 王文宏 Hom19910422@gmail.com 2014/6/15
2.
大綱 ‧研究背景 ‧飛行器簡介 ‧相關研究 ‧系統架構 ‧本文方法 ‧目前成果 ‧結論 1
3.
研究背景 2 近 年 來
, 由 於 微 機 電 系 統 (Micro Electro Mechanical Systems,MEMS)技術快速發展,造就了 低成本、普及的感測器,使的以演算法與感測器為 核心的四軸飛行器成為熱門的研究課題。
4.
飛行器簡介 3 ‧何為四軸飛行器? ‧四軸飛行器優點? ‧四軸飛行器應用?
5.
飛行器簡介-原理 4 順 順 逆 逆
6.
飛行器簡介-原理 5 向前運動 向後運動
7.
飛行器簡介-原理 6 向左運動 向右運動
8.
飛行器簡介-原理 7 逆時針旋轉 順時針旋轉
9.
相關研究 8 成功大學(National Cheng Kung
University)航空 太空工程學系的飛行控制與模擬實驗室研究無人飛 行器載具的導航與控制。
10.
相關研究 9 美國賓州大學 (University of
Pennsylvania)的 GRASP 實 驗 室 (The General Robotics, Automation, Sensing and Perception)研究飛行器與飛行器間的協 同工作。
11.
相關研究 10 瑞士蘇黎世聯邦理工學院(ETH Zurich)動態系統 與控制研究所(Institute for
Dynamic Systems and Control)的FMA實驗室(Flying Machine Arena)研究飛 行器的學習和安全性。
12.
系統架構 11 機 動力 飛控 遙控 結構 2.4GHz Radio Wave
13.
系統架構-結構 12
14.
系統架構-動力 13 無刷馬達電子調速器鋰電池 螺旋槳 與無刷馬達搭配 提供升力 驅動無刷馬達 與螺旋槳搭配 提供升力 飛行器電力來源
15.
系統架構-飛控 14
16.
系統架構-飛控 15 μController STM32F4 ARM-CortexM4F Freq up to
168MHz 資料SPI RF Module SmartIMU Module USB SPI/UART SD Module 讀寫資料 SDIO UART UART Header 外擴裝置 USB SPI FFCSPI PWM Header ADC Header PWM ADC 讀取資料 電壓電流 控制電調 外擴裝置 CAN Header CAN 控制ESC 外擴裝置
17.
系統架構-遙控 16
18.
系統架構-遙控 17 SPI Ethernet ETH Module TFTFSMCμController STM32F4 ARM-CortexM4F Freq up to
168MHz 傳送/接收 資料 SPI RF Module IMU Module I2C SD Module 讀寫資料 SDIO 讀取資料 JoyStick ADC 讀取資料 UART UART Header 外擴裝置 USB USB I2C/CAN I2C/CAN Header SPI FFCSPI 外擴裝置 外擴裝置
19.
系統架構-遙控 18
20.
本文方法 19 感測器 三軸加速度計 三軸陀螺儀 三軸電子羅盤 校正 姿態 平衡 微控制器 500Hz 感測器校正 單位轉換 PID控制器 四元數 姿態校正
21.
本文方法-電子羅盤校正 20
22.
本文方法-電子羅盤校正 21
23.
本文方法-電子羅盤校正 22 Y X X X X Y Y Y
24.
本文方法-姿態 23
25.
本文方法-姿態 Pitch &
Roll 24
26.
本文方法-姿態 Pitch &
Roll 25
27.
本文方法-姿態 Yaw 26
28.
本文方法-姿態 Yaw 27 Low-Pass Filter High-Pass
Filter ∫ θgyro Integer + Yaw ωgyro θmag Yaw = ( k ) * ( Yaw + z.gyro*dt ) + (1 - k) * ( z.mag ) k = τ / ( τ + dt ), τ : Time Constant, dt : Sample Period
29.
本文方法-平衡 28 KP KD + - Err = Exp
- Ang Exp Output Algorithm Sensor Gyro Ang Output = KP * Err + KD * Gyro
30.
目前成果-Pitch & Roll 29 Pitch
- Red, Roll - Yellow ( 0.01 deg / LSB )
31.
目前成果-Yaw 30 Filter - Blue,
No Filter - Yellow ( 0.1 deg / LSB )
32.
目前成果-Yaw 31 Filter - Blue,
No Filter - Yellow ( 0.1 deg / LSB )
33.
結論 32 目前方法已可以大致實現飛行器的平衡, 但仍有以下缺陷及需要改善的部分: 1. 等速運動無法感測。 2. 單一
PID 參數。 3. 運動加速度影響姿態計算。 4. 橢圓擬合不適合應用於空間中。 5. 電池電量影響馬達轉速。
34.
Q&A 33
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