Yuav ua li cas sib sau ua ke quadrocopter tus kheej txhais tes. Teem tau thiab tswj quadrocopter

Quadrocopter nruab nrab yog ib tug ya platform nrog plaub xov tooj cua tswj brushless motors nruab nrog propellers. Tus qauv ntawm xws li yog hloov mnogorotornaya ya platform. Nyob rau hauv sib ntaus quadrocopter occupies txheeb ze mus rau hauv av kab rov tav txoj hauj lwm, yog muaj peev xwm mus dai rau qhov xaiv chaw tsiv mus rau sab, thiab nce thiab nqis. Muaj tshwj xeeb kev xaiv muaj yuav ua rau nws tau mus nqa tawm zoo autonomous quadrocopter flights.

Quadrocopter nrog lub koob yees duab

Qhov no ntaus ntawv yog txawm peem rau nrog plaub rotors, uas nqa diagonally tig nyob rau hauv opposite lus qhia. Lub processor ntawm lwm yam uas lub rotor, uas pib ua cov ntaub ntawv nrog peb gyroscopes rau kev txiav txim thiab kho txoj hauj lwm nyob rau hauv qhov chaw nyob rau hauv tag nrho peb cov dav hlau. Tsaug rau lub accelerometer tsis tau ib tug kiag li kab rov tav txoj hauj lwm. Kho quadrocopter nyob rau qhov kev kawm siab yog nqa tawm los ntawm equipping barodatchikom. Ntaus moog nyob rau hauv qhov chaw vim lub fact tias hloov lub muab kev ceev ntawm ib tug los yog lwm ntawm ob motors. Quadrocopter tshwm sim yob nrog nws ntxiv zog.

Tus thawj pab kiag li lawm

Qhov no sib pib tsim nyob rau hauv 2006. Developers los ntawm lub teb chaws Yelemees Ingo busker thiab Holga BUSS quadrocopter tsim rau lawv tus kheej txhais tes. Nyob ib ncig ntawm nws sib sau ua ib tug loj loj zej zog ntawm passionate neeg - RC-modellers, programmers, designers. Nyob rau hauv nruab nrab-2007 quadrocopter pib yuj siab thiab nws yog tshee tsiv nyob rau hauv cov huab cua. Cov pab kiag li lawm yog distinguished los ntawm lub xov tooj cua-tshuaj nyoob hoom qav taub nyob rau hauv ib txoj kev zoo vim hais tias ntawm tsim yooj thiab tsis muaj nqi. Quadrocopter yuav tsum tau rau cov khoom yuav raug muas, thiab ces muaj yog ib tug loj loj uas duav txhua yam kom muaj tswv yim. Nyob rau hauv tas li ntawd, nyob rau hauv cov ntaub ntawv ntawm ib tug caij nplooj zeeg feem ntau kho ntawm xws ntaus ntawv yog ntau pheej yig dua tshaj xov tooj cua-tshuaj nyoob hoom qav taub.

Yuav ua li cas sib sau ua ke quadrocopter tus kheej ob txhais tes: cov lus qhia

Ncej rau cov ntaus ntawv nws puas yuav tau ua nws tus kheej. Qhov no yuav tsum tsis yog li ntawd ntau npaum li cas cov ntaub ntawv uas. Ntawm lawv, ib daim ntawm plywood 150 x 150 mm square txhuas profile 14 x 14 hli. Rays yuav fastened los ntawm txoj kev screws rau ntawm lub kab pheeb ces kaum ntawm lub square. Nyias txhuas daim kab xev yuav siv tau los ua ib tug tsaws skis thiab ib lub yas dhos rau lub roj teeb. Txhua ray los ntawm qhov chaw muaj ib tug ntev ntawm 300 hli thiab txhua beam - 250 hli. Qhov kev xyaw rau hauv lub xaus ntawm lub beams yuav ua tom qab lub rooj sib txoos los ntawm npav tag nrho cov tshuab.

RC quadrocopter: daim ntawv teev cov tsim nyog spare qhov chaw

• Khoom Turnigy 9 X.
• Control board.
• Roj teeb khoom.
• Hwj chim roj teeb rau hauv nws tus kheej quadrocopter.
• Propellers.
• Chargers.

assembling quadrocopter

Koj thawj zaug yuav tsum mus nruab ib lub tswj board, thiab mus muab nws raws li nyob ze rau qhov chaw ntawm lub platform. Uas yog, yog zoo vymeryat ua ntej, kom koj thiaj li tsis tau txais tej yam teeb meem nrog tshuav nyiaj li cas thiab lwm yam. Qhov no yog drilled los ntawm cov yav tas los ntsia plywood ncaj qha mus rau lub xaus ntawm lub txhuas kab teeb. Ntev hlau screws siv los ntswj kom nruj tus nqi ncaj qha mus rau lub rays. Tham txog yuav ua li cas sau quadrocopter tus kheej txhais tes, nws yuav tsum tau muab sau tseg tias beams yog tsis tsim nyog los tho los ntawm, txij thaum lub roj teeb tam sim ntawd uas nyob ib sab tshaj plaws nruj nreem.

Nyob rau hauv lub cheeb tsam ntawm lub Rooj Tswjhwm Saib yog yuav tsum tau rau nruab ib lub receiver. Nws yuav mounted los ntawm txoj kev superglue. Yog hais tias lub channel hauj lwm ntawm lub receiver los raws nraim tib yam li cov neeg ntawm cov tswj board, nws tseem tau mus ua rau lawv yooj yim kev twb kev txuas los ntawm txoj kev ob peb cov tub ntxhais cables.

engine qhov chaw

Thaum xav txog yuav ua li cas yuav ua rau quadrocopter tus kheej txhais tes, nws yog tsim nyog los kos rays thiab xyaum qhov nyob rau hauv lub engine. Qhov kev ncua deb ntawm lub npoo mus rau lub axis ntawm kev sib hloov nyob rau hauv txhua tus neeg mob yuav tsum raws nraim tib yam. Qhib rau tus Tsov tus tw ncej uas sticks tawm los ntawm lub hauv qab ntawm lub cav, nws yog tsim nyog los tho los ntawm tag nrho cov dav ntawm lub square, uas yuav pom yog hais tias tus ncej tsis lo rau cov npoo.

disassembly thaiv

Rau ntawm no theem, nws yog lub sij hawm mus ua raws li nram no ua hauj lwm. Thawj lub "kab laug sab" ntawm cov plaub ceev governors, thiab lawv mov cables yuav tsum tau kev cob cog rua nyob rau hauv thaum uas tig mus los ntawm txoj kev tshwj xeeb adapters. Siv plug-nyob rau hauv kev sib txuas no tsuas yog nyob rau hauv ib qhov chaw - qhov twg yog nqa tawm cov roj teeb kev twb kev txuas mus rau lub "Kab laug sab". Txhua tsav txhua yam koj yuav tau solder, thiab ces ceev rau cov ntsws, li hauv davhlau los ntawm cov ntseeg tej zaum yuav tshwm sim sib txawv surprises. Tam sim no koj yuav tsum tau txuas lub teeb liab nyob ntawm tej tus neeg tsav tsheb nyob rau hauv raws li cov xov tooj ntawm lub xyaw rau cov kev tswj board.

Thaum txhua yam yog tau koom ua ke, koj yuav tau tsiv mus rau kev soj ntsuam thiab troubleshooting.

Ib lwm kev xaiv

Tus thawj tshaj plaws los hais rau cov neeg uas xav nyob rau hauv yuav ua li cas los tsim kom tau nrog lawv tus kheej txhais tes quadrocopter: tsis skimp on cov ntsiab lus. Muaj ib tug loj tus naj npawb ntawm firmware, sensors xaiv npaj controllers, tab sis qhov no tsab xov xwm yuav tau piav nyob rau hauv cov kev xaiv ntawm kev siv Arduino Mega, MegaPirate firmware, raws li zoo raws li kuj pheej yig sensors.

paub meej

Yuav pib, koj yuav tsum tau qhov lub cev muaj zog 4 plus 1 spare. Propellers, dhau lawm, yog coj Tshuag, yuav tsum tau yam tsawg 2 txheem thiab 2 - rov qab. 4 ceev xws li, ntxiv rau ib tug ob peb spare. Raws li lub hwj huam mov yog tsis tsim nyog noj ib superomky roj teeb, raws li nws yuav tsuas muab nyhav ntxiv ntaus ntawv. Qhov zoo tshaj plaws xav tau ib tug ob peb me me los mus hloov lawv ib tug los ntawm ib tug. Lub thav duab yuav tsum tau raws li muaj zog thiab khaub-ncaws nyias. Lub embodiment piav saum toj no tej zaum yuav hu ua heev tsis tsim. Raws li lub hlwb-sensors thiab pab kiag li lawm yuav tau siv ib programmable microcontroller lub rooj tsavxwm - AllInOne, ib tug accelerometer, ib tug gyro, tswj li qub, roj teeb, roj teeb charger, raws li zoo raws li ntau lwm tus neeg. Nyob rau hauv lub caij nyoog kawg no yuav tsum to taub qhov tsim nyog tooj ntawm bolts, screws, provodochki, screeds. Koj yuav tsum tau cov cuab yeej rau cov hauj lwm, xws li ib tug soldering hlau thiab accessories mus nrog nws, ib tug xyaum, thiab keej ob txhais tes.

hlau los ua ke thiab teeb

Yog hais tias txhua yam saum toj no, koj muaj, nws yog tseem ua tau kom pib drilling dab, soldering thiab sib ntswg. Lub thav duab yuav ua tau nyob rau hauv tib txoj kev raws li tau piav saum toj no, thiab nws tseem tau mus qhia lub tswv yim. Tab sis ntawm no yog ib qho tseem ceeb tsuas yog ib yam: kom paub tseeb tias qhov kev ncua deb ntawm qhov chaw mus rau lub xaus ntawm lub beams yog raws nraim tib yam, nrog rau cov propellers thaum lub sij hawm kev sib hloov yuav tsum tsis txhob kov txhua lwm yam thiab lub hauv paus yog ib feem ntawm lub plywood, txij li thaum nws tawm tag nrho cov sensors, lub hlwb, thiab cov koob yees duab yog hais tias koj xav. Lub installation ntawm sensors yuav tsum tau ua nyob rau hauv ib tug tuab daim kab xev, roj hmab los yog silicone, txo kev co. Nyob rau hauv nruab nrab los yog nyob rau hauv lub xaus ntawm lub beams yuav raug txuas mus rau lub ua npuas ncauj, ib tug tuab npaus roj hmab los yog beacons, uas yuav xav tias kev khiav dej num ntawm lub chassis thaum lub sij hawm ntawm tsaws.

Sensors thiab cov hau kev rau lawv cov khoom

Qhov yooj yim cov kev xaiv tej zaum yuav raug hu ua purchase ntawm tiav lawm boards nrog plaub lub ntsiab sensors: gyroscope, tsim los ntsuas cov angular acceleration; ib tug accelerometer ntsuas lub ntiajteb txawj nqus thiab acceleration; barometer uas txiav txim seb tus altitude thiab yuav quadrocopter rau nws; magnetometer, uas fixes cov kev taw qhia.

Thaum lub caij, cov lag luam yuav nrhiav tau cov ntawv, uas nyob rau hauv tas li ntawd mus rau plaub ntawm cov sensors muaj lub GPS-receiver yog siv feem rau autonomous davhlau.

ntws los ua ke

Yuav kom mount tus txheej txheem kuj yog yooj yim li sai tau, peb txhua tus yuav tsum muab tso rau hauv tej board uas ua cov kev ua tsab. Lub pin kev twb kev txuas yog nyob ntawm cov hom firmware, tam sim no nyob rau ntawm lub lub sij hawm ntawm sau pab kiag li lawm, yog li nyob rau hauv txhua rooj plaub, txhua yam yuav tsum tau muab kev cob cog rua raws li cov lus qhia.

Teem tau thiab loading firmware

Nrhiav cov firmware thaum lub caij yog tsis yooj yim, li ntawd, koj yuav tsum download tau qhov kev tsim nyog cov ntaub ntawv thiab unzip nws. Tom qab lub firmware nyob rau hauv lub Arduino yuav loaded ntse, nws tseem tau mus nqa tawm txhaj tshuaj teeb, thiab ces kaw lub A5 kev sib cuag nrog GND. Thaum cov kev pab cuam yog launched, nyob rau hauv lub xaiv ntawv qhia zaub mov yuav tsum tau xaiv COM-chaw nres nkoj lub Arduino, thiab nyob rau hauv Action ntawv qhia zaub mov - AC2 Teeb. Nws yog ib qho tseem ceeb uas quadrocopter teeb yog kev vam meej, thiab rau cov uas koj xav tau kom meej meej raws li cov lus qhia uas yuav tshwm sim nyob rau hauv pem hauv ntej ntawm koj tom qab txhaj rau cov loj loj khawm. Nyob rau hauv ib lub qhov rais, koj yuav tsum tau yuav tsum tau mus txav mus rau lub kov rau tej thaj chaw deb tswj kom lub siab tshaj plaws thiab yam tsawg kawg nkaus qhov tseem ceeb, thiab nyob rau hauv lwm qhov rais, koj yuav tau xyuas kom tseeb tias hais tias cov kws yog theem kom raug calibrate lub sensors.

ntxiv ua hauj lwm

quadrocopter Management tom tom qab calibration. Tom qab koj ua tiav qhov configuration, A5 rau GND yuav qhib thiab ces nrhiav yam khoom nyob rau hauv cov zaub mov AC2 Sensor, qhov chaw uas koj muaj peev xwm xyuas seb tus sensors yog ua hauj lwm, nyob rau hauv lub Nyoos Sensor tab. Txhua tig ntawm lub Rooj Tswjhwm Saib cov sensors yuav tsum tau xyaum kom meej li meej tau, uas yog, raws li muab li lub xub thiab tiav niam txiv, yog hais tias nws tsis tau mus txog rau qhov kev kawm muaj nuj nqis, los yog kev xyaum, ces koj muaj ib qho teeb meem nrog tog twg los lub sensor los yog nrog tus coefficients nyob rau hauv lub code.

Nws yog tsim nyog los xyuas thiab lag luam ntawm lub receiver. Qhov no yog ua nyob rau hauv lub tom ntej no tab. Yog hais tias cov lus tsa suab theem yog muaj tseeb, ces thaum gas tsis kam lees yuav joystick 2 vib nas this down mus rau sab xis yuav tsum tau zes liab LED. Nrog qeeb zog upwards ntawm tib ntxias nyob rau hauv rau sab laug kem yuav tsum kwv yees li tib yam cov theem ntawm sib txawv.

tshwm sim

Thaum txhua yam tau raug kuaj, nws yuav mounted propellers, thiab ces sim ya. Rau no quadrocopter yuav tsum muab kom deb ntawm koj, qaij down rau sab laug thiab txoj cai kov, thiab ces maj mam ntxiv cov roj. Yog hais tias tus ntaus ntawv yog muab tshem tawm, nws yog zoo heev, thiab yog hais tias nws yog tuav, koj yuav tsum tau kho cov disease PID. Qhov no yog ua li cas rau kauj ruam disease PID Config. Qhov no yog ua li cas tag nrho cov nyob rau hauv txhua qhov teeb meem no ib lub zuj zus, piv txwv li muaj ib co universal daws teeb meem. Tam sim no koj paub yuav ua li cas los tsim kom tau nrog lawv tus kheej txhais tes quadrocopter.