Kodi kusonkhana manja quadrocopter mwini. Kukhazikitsa ndi kusamalira quadrocopter

Quadrocopter akuimira nsanja akuwuluka ndi anayi wailesi ulamuliro Motors brushless okonzeka ndi injini. Kapangidwe ka zipangizo otere anazimitsa mnogorotornaya zouluka nsanja. Mu ndege quadrocopter ali wachibale pansi yopingasa malo, akhoza anapachika pa malo osankhidwa ndi anasamukira ku mbali, mmwamba ndi pansi. Kapezekedwe ka options wapadera zilipo limachititsa kuchita pafupifupi yoyenda yokha quadrocopter ndege.

Quadrocopter ndi kamera

chipangizo Izi zida ndi rotors anayi, omwe kunyamula diagonally atembenuza mbali zosiyana. The purosesa akulamulira ozungulira, amene akupereka deta ndi gyroscopes atatu kudziwa ndi kukonza malo danga ndege onse atatu. Ndiyamika accelerometer ukulephera kutenga malo yopingasa kwathunthu. Akukonzekera quadrocopter kutalika anakhumba ikuchitika ndi akuphunzitsa barodatchikom. Chipangizo osamukira danga chifukwa chakuti kusintha liwiro rotational wa wina wa Motors awiri. Quadrocopter zimachitika mayina ndi gulu lake zina.

Zipangizo loyamba

Zotsatira chinayamba mu 2006. Kutukula ku Germany Ingo Busker ndi Holga Buss quadrocopter analengedwa ndi manja awo. Momuzungulira anasonkhanitsa gulu lalikulu la anthu mokhudza - RC-modellers, mapulogalamu, okonza. Mu zaka za m'ma 2007 quadrocopter anayamba kuuluka ndipo mopitiriza akusuntha mu mlengalenga. zipangizozi amadziŵika ndi ndege wailesi womwe mu njira zabwino chifukwa cha kusinthasintha kapangidwe ndi mtengo wotsika. Quadrocopter wofunikila zida zikhoza kugulidwa, kenako pali kuchuluka yaikulu zilandiridwenso. Komanso, mu nkhani ya kugwa zambiri kukonza chipangizo ngati ndi mtengo kwambiri kuposa ndege wailesi womwe.

Kodi kusonkhana manja quadrocopter mwini: malangizo

Chimango kwa chipangizo n'zotheka kuchita nokha. Izi zimafuna zinthu osati kwambiri. Pakati pawo, chidutswa cha plywood 150 × 150 mamilimita lalikulu zotayidwa mbiri 14 × 14 mm. Cheza akhoza ananamizira mwa zomangira pa opendekera a lalikulu. Woonda tepi zotayidwa angagwiritsidwe ntchito kulenga ankafika zipangizo ndi chofukizira kwa batire la. Aliyense ray ku likulu ali kutalika mamilimita 300 ndipo aliyense mtengo - 250 mm. Mabowo kwa injini malekezero a matabwa akhoza anapangidwa pambuyo msonkhano ndi chodetsa chonse cha injini.

RC quadrocopter: mndandanda wa mbali zofunika yopuma

• Zida Turnigy 9x.
• Control gulu.
• zida Battery.
• Mphamvu batire yekha quadrocopter.
• Injini.
• Chargers.

kusonkhana quadrocopter

Choyamba muyenera kukhazikitsa bolodi ulamuliro, ndi kuyesa kuziyika izo monga penipeni pa nsanja. Kuti pali bwino vymeryat pasadakhale, choncho inuyo mulibe mavuto moyenerera ndi zinthu zina. Mabowo ali mokhomerera mwa plywood kale anaika mwachindunji ku malekezero a matabwa a zotayidwa. Long zomangira zitsulo ntchito kulumikiza amalipiritsa ndi mwachindunji cheza cha. Kuyankhula za mmene amapezera manja quadrocopter yekha, tisaiwale kuti matabwa si kofunika kubowola kudzera, kuyambira batire yomweyo pafupi pazipita mwamphamvu.

Pafupi ndi bolodi chofunika kukhazikitsa wolandirayo. Iwo akhoza kukwera mwa superglue. Ngati njira imene imachitika pa wolandirayo kwa chimodzimodzi ngati a komiti ulamuliro, n'zotheka kuti iwo kugwirizana mosavuta kudzera zingwe ziwiri zitatu-pachimake.

injini malo

Pamene kuona kuti manja quadrocopter yekha, m'pofunika kuti adziwe cheza ndi mabowo kubowola pansi injini. Mtunda kuchokera konsekonse kwa olamulira a kasinthasintha milandu onse adzakhala chimodzimodzi. Kutsegula kwa kutsinde mchira kuti amakhala kuchokera pansi pa injini, m'pofunika kubowola kudzera m'lifupi lonse lalikulu, amene adzaona ngati kutsinde si gwiritsitsani m'mbali ake.

Disassembly Kulumikizana

Pa nthawi imeneyi, ndi nthawi kuchita ntchito zotsatirazi. Choyamba "kangaude" wa akazembe anayi liwiro, ndi kupereka zingwe zawo olumikizidwa ku kufanana mwa adaputala azamagetsi wapadera. Gwiritsani pulagi-mu kugwirizana ndi pamalo amodzi - kumene ikuchitika kugwirizana batire kwa "Kangaude". China chirichonse muyenera solder, ndiyeno kumangitsa kuti kuotcha, monga kuthawa kugwedera kwa kumachitika zodabwitsa osiyana. Tsopano muyenera kugwirizanitsa chizindikiro mawaya dalaivala malinga ndi chiwerengero cha injini pa bolodi kulamulira.

Pamene zonse zosonkhana, mukhoza kusuntha kwa kuyezetsa komanso kusaka.

An njira zina

Chinthu choyamba kunena kwa iwo amene ali ndi chidwi m'mene tingamangire ndi manja awo quadrocopter: musati skimp pa mwatsatanetsatane. Pali ambiri fimuweya, zimatulutsa options wokonzeka opha, koma nkhaniyi kutchulidwa asankhe ntchito Arduino Mega, MegaPirate fimuweya, komanso masensa ndi wotchipa.

tsatanetsatane

Kuyamba, mufunika galimoto 4 kuphatikiza 1 yopuma. Injini, nayenso, ndi kutenga katundu, kukhala osachepera 2 muyezo ndipo 2 - chigamulocho. 4 liwiro Mtsogoleri, kuphatikiza wapadera ochepa. Monga magetsi si ofunika kutenga batire superomky, monga adzakhala kungopereka kulemera owonjezera chipangizo. Chinthu chabwino amakonda pang'ono kusintha iwo mmodzi ndi mmodzi. chimango ayenera kukhala amphamvu ndi opepuka. Chimake tafotokozazi angatchedwe yabwino ndithu. Monga ubongo masensa ndi zipangizo akhoza ntchito programmable microcontroller bolodi - AllInOne, ndi accelerometer, ndi gyro, mavavu kulamulira, mabatire, batire naupereka, komanso ena ambiri. Pansi yotsirizira ayenera adziwe nambala kofunika akapichi, zomangira, provodochki, screeds. Muyeneranso zida ntchito, monga soldering chitsulo ndi Chalk kupita ndi izo, kubowola, ndi manja ya luso.

chitsulo msonkhano ndi khwekhwe

Ngati chirichonse pamwamba, muli, n'zotheka ndithu kuyamba ndondomeko kuboola soldering ndi kupotoza. chimango akhoza kukhala chimodzimodzi monga tafotokozazi, ndi n'zotheka kusonyeza m'maganizo. Koma apa n'kofunika chinthu chimodzi chokha: onetsetsani kuti mtunda kuchokera pakati pa malekezero a matabwa anali chimodzimodzi, ndi injini pamene kasinthasintha ayenera musakhudze mzake ndi chigawo chapakati cha plywood, chifukwa anaika masensa onse, ubongo, ndi kamera ngati mukufuna. The unsembe masensa ikhale pa wakuda tepi, labala kapena silikoni, kuchepetsa kugwedera. Pakati kapena malekezero a matabwa akhoza Ufumuyo chithovu, ndi wandiweyani chithovu mphira kapena ankayatsa, umene kuganiza ntchito za galimotoyo pa nthawi ya ndegeyo.

Masensa ndi njira zokolola zawo

Njira yosavuta angatchedwe kugula matabwa yomalizidwa ndi masensa zinayi zikuluzikulu: gyroscope, cholinga kuyeza mathamangitsidwe okhota; ndi accelerometer kuyeza yokoka ndi mathamangitsidwe; barometer kumene kumatsimikizira okwera nasunga quadrocopter pa izo; magnetometer, amene atakhazikitsa malangizo.

Pa nthawi, msika mungapeze makadi awa, amene kuwonjezera anayi masensa awa pali GPS-wolandila ntchito yaikulu ndege yoyenda yokha.

kukhetsa msonkhano

Ku phiri ndondomeko wakhala kosavuta monga kotheka, tiyenera onse adzaikidwa pa bolodi aliyense amene amachita ntchito zinachitika. Kugwirizana pini zimatengera mtundu wa fimuweya, panopa nthawi zipangizo chopereka, kotero pa nkhani iliyonse, onse olumikizidwa malinga ndi malangizo.

Kukhazikitsa ndi tsegula fimuweya

Pezani fimuweya pa mphindi sikovuta, kotero muyenera kukopera file zoyenera ndi unzip izo. Pambuyo fimuweya mu Arduino kukhala yodzaza bwino, n'zotheka kuchita jekeseni khwekhwe, kenako kutseka A5 kukhudzana ndi GND. Msonkhanowu ndi anapezerapo, menyu yankho ifunika Com-doko Arduino, ndi pa Action menyu - AC2 dongosolo. Nkofunika kuti quadrocopter khwekhwe inayenda bwino, ndi kuti muyenera bwino kutsatira malangizo amene adzaoneka kutsogolo kwa inu pambuyo kuwonekera pa batani yaikulu. Zenera limodzi, inu adzafuna kusuntha chogwirira pa mphamvu ya kutali kwa pazipita ndi osachepera mfundo ndi zenera wina, mwapemphedwa kuonetsetsa kuti chipangizo chamagetsi ndi mlingo kuti molondola azigwirizana masensa.

ntchito zina

quadrocopter Management kusintha pambuyo calibration. Mukamaliza kumaliza kasinthidwe, A5 kuti GND aphenyuke kenako kupeza chinthu menyu AC2 SENSOR, mungapezeko kufufuza ngati masensa ntchito, mu tsamba Zakudya SENSOR. Lililonse kwa bolodi ndi masensa ayenera kuchita ngati mmene zotheka, kuti, monga anatembenuka kotero muvi ndipo, chikapanda kufikira mtengo wolakalakika, kapena kusuntha, ndiye kuti muli ndi vuto ndi mwina sensa kapena ndi koefishienti code.

M'pofunika fufuzani ndi ntchito wolandila lapansi. Izi zachitika mu tsamba lotsatira. Ngati mlingo zoyenda zolondola, ndiye mpweya kukana joystick masekondi 2 pansi kudzanja lamanja ayenera anayatsa wofiira kutsogoleredwa. Ndi oposa pang'onopang'ono gulu la manipulator chomwecho mu Danga lakumanzere ayenera kukhala pafupifupi mulingo womwewo wa kupatuka.

chifukwa

Pamene chirichonse wayesedwa, akhoza wokwera injini, kenako kumayesera kuuluka. Pakuti quadrocopter ayenera kuika kwa inu, mapendekeredwe pansi lamanzere ndi lamanja chogwirira, ndipo pang'onopang'ono kuwonjezera mafuta. Ngati chipangizo lidzachotsedwepo, izo nzabwino kwambiri, ndipo ngati kugwedeza, inu kusintha PID. Izi zachitika mu sitepe PID yosinthira. Izi zachitika zonse zochitika payekha, mwachitsanzo pali njira konsekonse. Tsopano inu mukudziwa m'mene tingamangire ndi manja awo quadrocopter.