Kanjani ukuze ahlangane izandla quadrocopter siqu. Ukusetha i-nokuphatha quadrocopter

Quadrocopter simele platform flying nge zomsakazo ezine ukulawula brushless motors ifakwe ophephela. Isakhiwo zinsizakuphila esitshalweni mnogorotornaya flying platform. Uma indiza quadrocopter ithatha isihlobo emhlabathini evundlile, uyakwazi hang on the spot akhethiwe ushukumiseleka ukuba ohlangothini, phezulu naphansi. Ukutholakala ongakhetha ekhethekile etholakalayo kwenza kube nokwenzeka ukuba afeze cishe ezizimele quadrocopter izindiza.

Quadrocopter ngekhamera

Le divayisi ifakwe rotors ezine, athwala ngokuphambeneyo ukujikeleza oluyi. Processor elawula Rotor, elinikeza ngedatha gyroscopes ezintathu sokunquma kanye ukulungisa isikhundla emkhathini kuzo zonke izindiza ezintathu. Ngenxa accelerometer ehluleka ukuthatha evundlile ngokuphelele. quadrocopter Ukubeka ngesikhathi ibambene oyifunayo Kwenziwa kuhlomisa barodatchikom. Kudivayisi dengwane emkhathini ngenxa yokuthi ukuthi ukushintsha ijubane ukujikeleza elilodwa noma kwenye izinjini ezimbili. Quadrocopter kwenzeka roll nge ukuhamba kwayo eminye.

Amadivayisi yokuqala

Lokhu kuthambekela eyaqala ukuvela 2006. Onjiniyela abavela eJalimane Ingo Umculi osafufusa futhi Holga Buss quadrocopter wadala ngezandla zabo. Ababemzungezile wabutha umphakathi omkhulu wabantu abanothando - RC-modellers, program, abaklami. Phakathi no-2007 quadrocopter waqala lalanda futhi kancane kancane ezihambayo emoyeni. Lezi amadivayisi zihlukaniswa indiza radio-elawulwa ngendlela enhle ngenxa design eguquguqukayo kanye eziphansi. Quadrocopter adingekayo imishini angathengwa, bese kukhona ububanzi omkhulu wobuciko. Ngaphezu kwalokho, uma ukuwa ngokuvamile ukulungisa idivayisi ezifana ishibhile kuka indiza radio-elawulwa.

Kanjani ukuze ahlangane izandla quadrocopter siqu: imiyalelo

Uzimele yedivayisi kungenzeka ukukwenza ngokwakho. Lokhu kuzodinga impahla hhayi okungaka. Phakathi kwabo, ucezu plywood 150 x 150 mm aluminium square iphrofayli 14 x 14 mm. Rays kungenziwa abethela esebenzisa nezikulufi ku diagonal we isikwele. Izacile aluminium tape engasetshenziswa ukwakha eqhweni kokwehla umnikazi ngoba ibhethri. Ngamunye ray kusukela maphakathi has a ubude 300 mm kanye ugongolo ngamunye - 250 mm. Izimbobo for izinjini enisemikhawulweni imishayo zingenziwa ngemva kokuba umkhandlu ngomakha zonke izinjini.

RC quadrocopter: uhlu izingxenye ezidingekayo ezisele

• Isisetshenziswa Turnigy 9X.
• Control ebhodini.
• imishini ibhethri.
• Amandla webhethri ngakuyena quadrocopter.
• Ophephela.
• Amashaja.

Ukubuthanela quadrocopter

Okokuqala udinga ukufaka ibhodi control, bese uzama ngiyibeke eduze maphakathi yesikhulumi. Lokho, kukhona okungcono vymeryat kusengaphambili, ngakho asikho got nezinkinga ibhalansi kanye nezinye izinto. Izimbobo kuthiwa yamba ngokusebenzisa plywood ezifakwe ngqo kuze kube semikhawulweni imishayo aluminium. Long metal nezikulufi esetshenziswa ukubophela imali ngqo imisebe. Ukukhuluma ngendlela ukuqoqa izandla quadrocopter siqu, kufanele kuphawulwe ukuthi imishayo Akubalulekile sokuprakthiza ngokusebenzisa, kusukela ibhethri esiphezulu ngokushesha eduze uvalwe.

Eduze ebhodini liyadingeka ukufaka umamukeli. Kungaba ukukhwezwa esebenzisa superglue. Uma isabelo nesiteshi owamukelayo ncamashi ziyefana nalezo ebhodini control, kungenzeka ukubenza uxhumano lula esebenzisa ezimbili izintambo ezintathu-core.

injini indawo

Lapho ecabanga indlela yokwenza ngezandla quadrocopter siqu, kubalulekile ukumaka imisebe futhi izimbobo sokuprakthiza ngaphansi injini. Ibanga ukusuka emaceleni ukuze eksisi ujikeleza kuzo zonke izimo ngeke ifane patsi. Ukuvula i-shaft umsila ukuthi silandela imithetho out kusuka phansi injini, kubalulekile ukuba bayamba lonke ububanzi isikwele, okuyinto uzobona uma kushaft Akunamatheli imiphetho yayo.

Izintambo zikagesi ezisobala disassembly

Kulesi sigaba, sekuyisikhathi ukwenza imisebenzi elandelayo. Okokuqala lo "isicabucabu" ijubane kwababusi ezine, futhi zinamanzi izintambo Kumele uxhumeke parallel esebenzisa adapters ekhethekile. Sebenzisa uxhumano-plug-in kuphela endaweni eyodwa - lapho wenziwa uxhumano lwebhethri kuya "Spider". Yonke enye into udinga solder, bese qinisa ekuhlehleni, njengokungathi babalekela vibration kungenzeka lezimanga ezahlukene. Manje kudingeka ukuba uxhume umshayeli isignali izintambo ngokuhambisana Izinamba izinjini ebhodini control.

Uma zonke izinto behlangene, ungakwazi udlulele ukuhlolwa nokuxazulula inkinga.

Inketho okunye

Into yokuqala ukuthi kulabo abanentshisekelo indlela yokwakha ngezandla zabo quadrocopter: musa skimp on imininingwane. Kukhona inani elikhulu firmware, izinzwa ongakhetha abalawuli ngomumo, kodwa lesi sihloko uzobe kuchazwe inketho kokusebenzisa Mega Arduino, MegaPirate firmware, kanye izinzwa kancane.

imininingwane

Ukuze uqale, udinga motor 4 plus 1 sokuphumula. Ophephela, futhi, ukuthatha isitokwe, ukuba okungenani 2 ejwayelekile kanye 2 - ukuhlanekezela. isilawuli ijubane 4, plus spare ambalwa. Njengoba amandla supply akuyona kuwufanele ukuthatha ibhethri superomky, njengoba kuzoba kuphela ukunikeza owengeziwe idivayisi isisindo. Into ilungelo uthanda encane ezimbalwa ukushintsha ngayinye ngayinye. Uhlaka kufanele abe namandla futhi engasindi. Samuntu okuchazwe ngenhla kusengathiwa ngempela efanelekayo. Njengoba ingqondo-izinzwa kanye namadivayisi ungasebenzisa ehlelwe microcontroller ibhodi - AllInOne, i Accelerometer, a gyro, ukulawula ama-valve, amabhethri, ishaja nebhethri, kanye nabanye abaningi. Ngaphansi yokugcina kufanele baqonde nenombolo ledzingekako imishudo, ngezikulufo, provodochki, screeds. Udinga amathuluzi lo msebenzi, ezifana yensimbi nokunamathisela ngomthofu nezinsiza ukuya nalo, sokuprakthiza, nezandla okunekhono.

yensimbi inhlangano nokusetha

Uma konke okungenhla,, kungenzeka ukuqala imishini nezinqubo, nokunamathisela ngomthofu kanye ukusonta. Uhlaka zingenziwa ngendlela efanayo njengoba kuchaziwe ngenhla, futhi kungenzeka ukukhombisa umcabango. Kodwa lapha kubalulekile into eyodwa kuphela: uqiniseke ukuthi ibanga kusuka enkabeni kuze kube semikhawulweni imishayo kwaba nse, nge ophephela phakathi ukujikeleza akufanele bathintane kanye ngumgogodla ezikhungweni zomsebenzi ipulangwe, ngoba uthumele yonke izinzwa, ubuchopho, futhi ikhamera uma ufisa. Ukufakwa izinzwa kufanele senziwe obukhulu eteyipini, iraba noma abicah, ukunciphisa vibration. Phakathi noma enisemikhawulweni imishayo kungase kufakwe Foam, elicinene Foam zenjoloba noma beacons, okuzokwenza afinyelele siphi isiphetho lowo nemisebenzi chassis ngesikhathi kokwehla.

Izinzwa nezindlela ngemikhiqizo yabo

Inketho elula kusengathiwa ukuthengwa amabhodi kokuqendwa nge izinzwa ezine eziyinhloko: gyroscope, eklanyelwe ulinganise ukusheshisa emincane; i accelerometer ukukala yesisindo nokusheshisa; barometer ukuthi inquma engamamitha futhi igcina quadrocopter kuso; magnetometer, okuyinto elungisa isiqondiso.

Okwamanje, emakethe ungathola lawo makhadi, okuyinto ngaphezu ezine kulezi zinzwa kukhona GPS-umamukeli isetshenziswa ngezinga elikhulu indiza ezizimele.

cwenga inhlangano

Ukukhweza inqubo isibe lula ngangokunokwenzeka, sonke kufanele sihlale njalo ibekwe kunoma iyiphi ibhodi ukuthi wenza sibonelo umsebenzi. Uxhumano pin lincike ohlotsheni firmware, lamanje ngesikhathi iqoqo amadivaysi, ngakho esimweni ngasinye, zonke kumele ixhunywe ngokulandela imiyalelo.

Ukubeka up and yokulayisha firmware

Thola firmware okwamanje akunzima, ngakho kufanele ukulanda ifayela ezifanele bese unzip ke. Ngemva firmware ku Arduino ukulayishwa ngempumelelo, kungenzeka ukuba bafeze umjovo isethaphu, abese ukuvala contact A5 nge GND. Lapho uhlelo yethulwa, kwimenyu Inketho owakhethwa COM-port le Arduino, futhi phezu Action imenyu - AC2 Isethaphu. Kubalulekile ukuthi quadrocopter isethaphu waphumelela, futhi lokho kudingeka silandele ngokucacile imiyalelo uzovela phambi kwakho emva ngokuchofoza inkinobho omkhulu. Ngo window eyodwa, kuzodingeka ukuhambisa isibambo ku elawulwa kude ukuze esiphezulu kanye esincane amagugu, futhi kwelinye iwindi, ucelwa ukuba siqiniseke ukuthi lisebenze izinga ngokunembile ulinganise izinzwa.

umsebenzi okwengeziwe

quadrocopter Ukuphathwa kushintshwe emva Samandla. Ngemva kokuthi uqedele ukucushwa, A5 ukuba GND angavulwa bese ukuthola leyo nto imenyu AC2 Inzwa, lapho ungakwazi ukuhlola ukuthi nezinzwa ziyasebenza, e-Raw Inzwa ithebhu. Ngamunye ithuba ebhodini ne izinzwa lifanele lijayezwe njengoba ngokucacile ngangokunokwenzeka, okungukuthi, njengoba kuvulwe ngakho umcibisholo bese kuba, uma awufiki inani wayefisa, noma uhamba-ke uma unenkinga nge noma inzwa noma ne okuza ikhodi.

Kuyadingeka ukuba uhlole kanye nokusebenza umamukeli. Lokhu kwenziwa kuthebhu elandelayo. Uma ezingeni ezinyakazayo lilungile, khona-ke kuyoba igesi ukwenqaba induku yokudlala 2 imizuzwana ezansi ngakwesokudla kufanele ovuthayo obomvu LED. Nge kancane ukunyakaza phezulu we manipulator efanayo kukholamu engakwesokunxele kufanele kube cishe amazinga efanayo sokusuka.

yi

Lapho konke ihlolwe, kungashiwo ophephela yehhashi egibele, bese uzama fly. Ngenxa yalesi quadrocopter kufanele beka kude nani, ungatshekisa phansi isibambo kwesokunxele nakwesokudla, bese kancane engeza igesi. Uma idivayisi bakhishwe, kuhle kakhulu, futhi uma is shaking, kufanele ulungise PID. Lokhu kwenziwa isinyathelo PID zokulungiselela. Lokhu kwenziwa konke isimo ngayinye, okungukuthi kukhona ezinye izixazululo jikelele. Manje uyazi indlela yokwakha ngezandla zabo quadrocopter.