北京航空航天大学 多旋翼飞行器设计与控制 讲义 PP 合集 可靠飞行控制研究组 tt://rfly.uaa.u.cn/
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. QUAD + QUAD X HEXA + HEXA X Y6 (a) () OCO + OCO X X8 (c).4: 7// 9. 4tt://aroqua.co/sowwii.?titl=Fra-Matrials l/cuin.5.7.5.4..7-.8 Msi 9..7.75.8..6-.9 Ksi 5-5 8-6 8-5-75-4.6 : 6 9 9 7 : 7 6 7 7 a 7//. 4 7//. [].5: [] Hrisisavan V, Blac J, Cora I. Dsign an rforanc of a qua-srou rotor icro air vicl. Journal of Aircraft, 4, 5(): 779-79. Fly Flying Platfor 7//.. 7// 7// 4. Prollr Pitc 4 454.5 APC45MR 7// 5. 4 [,.65] 5.6: []Aaron M Harrington. Otial roulsion syst sign for a icro qua rotor [Mastr issrtation]. Univrsity of Marylan, USA,. 7// 6
. 6 W N ra/s g/w = (g) 4 8 6 4 -MOOR 9x9.5CF -Bla -MOOR x.5cf -MOOR xcf W 5% 6% 7% 8% 9% % (in) (%) (g) (a) -MOOR U KV9- () -MOOR U KV9-.7: 7// 7 5 45 4 5 5 5 5 -MOOR 9x9.5CF -Bla -MOOR x.5cf -MOOR xcf 4 6 8 4..8: Du-Bro 7// 8.. ABC.9: www.nic.co 7// 9 B BC C A ABC Bruslss DC Motor, How it wors? tts://www.youtu.co/watc?v=ceionuodac 7//. 66-7KV KV KVV RPM KVKV 7// RS5 KV. ESC A Rcon Pro(inc) V 4/ // / / 5 Scifications Stator Diatr Stator icnss No. of Stator Ars No. of Stator Pols Motor Kv No-Loa Currnt (A/V) Motor Rsistanc Max Continuous Currnt Max Continuous Powr Wigt Outsi Diatr Saft Diatr Boy Lngt Ovrall Saft Lngt Max Lio Cll V84 6g x 8 4 4 77 KV.8A 7 A/S 55W 8g 5 4 6 8.5-4S APC47 APC47 7// 6. W VA 7 W g/w g W. 4 (V) (A) (W) (g) (RPM) (G/W) (N ) 5%. 79 745 8 9.44.4 55% 4. 99.8 9 4 9..7 -MOOR 6% 5..6 75 4576 8.7.98 5x5CF 65% 6. 5.7 54 495 8.. 8 75% 9. 7. 68 566 7.74. 85%. 9. 5 65 7.4.8 -MOOR MN5 4 % 7.8 46.7 746 767 6.44.498 KV4 5% 5.7 7.5 8 596 9.58.9 55% 7.4 78. 6 958 9.5.44 -MOOR 8x6.CF 6% 9. 9 4 8.56.4 65%.6 78. 59 46 8..47 75% 6.5 95.5 85 56 7.7.65 85%. 5. 477 575 6.55.77 % 744.7 455 658 5.85.98.: -MOOR MN5 KV4 74 7// 7// 4
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4. tt://www.os-rc.co/ tt://www.on-tx.org/ tt://www.rsau.org/aruinorc/ 4. GPS GPS IMU 4 5 IMU 7// 4 7// 4 4. 4. On-Sourc Projcts Aruilot Onilot Paarai Pixaw Mirootr KKulticotr Multiwii Aroqua Crayfli CraPony W sit URL tt://aruilot.co tt://www.onilot.org/ tt://aaraiuav.org tts://ixaw.t.c/ tt://www.irootr. tt://www.ulticotr.r/ tt://www.ultiwii.co/ tt://www.aroquastor.co/ tts://www.itcra.io/catgory/crayfli/ tt://www.craony.co/.8: Autoqua MgaPirat Erlroot MgaPiratNG tt://www.tootl.co/ tt://www.anotc.co/ tt://autoqua.org/ tt://gairatx.co/inx. tt://rlrootics.co/ tt://co.googl.co//gairatng 7// 4 7// 44 4. 4. aulas Flxot Dronco() Prcto() Parrot API(SDK) DR DRONEKI(SDK) DJI DEVELOPER(SDK) DJI MARICE + DJI Guianc SDK for XMission(SDK) EHANG GHOS SDK(SDK) W sit URL tt://foru.taulas.org/ tt://www.flxot.cc/ tts://www.ronco.org/ tt://www.rcto.co/ tts://rojcts.arron.org//arron-ai/inx.tl tt://www.ronit.io/ tt://v.ji.co/cn tts://vlor.ji.co/cn/atric-/ tt://www.xaircraft.cn/n/xission/vlor tt://v.ang.co/ Dscrition () (g) (MH) APM (Aruilot) 664.5 Aga56 6 MPU-6 MPU-6 HMC584 MS56 Onilot 66 8.5 SMFCB 7 ISZ/IDC-5 ADX HMC584 BMP85 Paarai(Lisa/M) 55.8 SMF5RC6 6 MPU-6 MPU-6 HMC584 MS56 Pixaw 4. 8 LPC48 6 ISZ/IDC-5 SCA- D4 HMC584 BMP85 Mirootr 44.65 5 Aga644 ADXRS6 LIS44ALH KMZ5 MPX45A Kulticotr 4949.7 Aga68 ENC- Multiwii N/Aa N/Aa Aruino 8- ISZ/IDC-65 LISLAL HMC588L BMP85 Aroqua N/Aa N/Aa Aruino 8- IG ADXL45 HMC588L BMP85 Crayfli. 99 9 SMF45 68 MPU-95 MPU-95 MPU- 95 LPS5H CraPony-II(4) 8.9*9.55 SMf8U6 7 MPU65 MPU65 HMC588L MS56 5IV x SMF 7 MPU65 MPU65 HMC588L HC-SR4 V SMF47 68 MPU65 MPU65 AK8975 MS56 a:multiwii Aroqua: Aruino Li H, Par J, L D, t al. Buil your own quarotor: On-sourc rojcts on unann arial vicls. IEEE Rootics & Autoation Magain,, 9(): -45. 7// 45 7// 46 4. 4..9 APM.: 7// 47 7// 48
4. DSP.DR.Onilot 4. 4MH95MH95 MH 4 MH95 MH MAVLin MAVLin LGPLLssr Gnral Pulic Licns9OnilotUAVal 7// 49 7// 5 5. ( ( ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7// 5 7// 5 7// 5 7// 54
qq_uaa@uaa.u.cn 7/5/... 7/5/ 7/5/ 4.. +X X.: (a) ().: 7/5/ 5 7/5/ 6...6 [] / r.57 [] Boorqu F. Rotor ovr rforanc an syst sign of an fficint coaxial rotary wing icro air vicl [P. D. issrtation], Univrsity of Marylan Collg Par, USA, 7. Eang () 84 (a) ().:.4: C C o (a) ().5:.6:CyPyLVL C o 7/5/ 7 7/5/ 8
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. [].: [Fig.7] [] Bristau P J, Martin P, Salaun E, t al. rol of rollr aroynaics in t ol of a quarotor UAV. In: Control Confrnc (ECC). Euroan: IEEE, 9. 68-688 7/5/ 7.,, () ().: Pixaw/APM 7/5/ 8.. 4.: 4CFD.: 7/5/ 9 7/5/. 4 5 7/5/. GPS ) 7/5/..5: Nixi,., 7/5/ 7/5/ 4
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R R R R R R R R I lit R t I R vx RRR R x x x x x x, x x x,vx x x x x = RR KRR K 7/5/ K R,K K K J RR RR R R [] L,, Loy M, an McClaroc N H. Gotric tracing control of a quarotor UAV on SE(). In: Procings of t 49t IEEE Confrnc on Dcision an Control. Atlanta, Gorgia, USA: IEEE,. 54 545. 7/5/ 4 uv t t uv t g t n g : B n uv t Bt u v t g t f c c c c x c c y c c c M cm cm cm 4 M4 f c c c c sin c sin c sin x nr y ccos ccos ccos n r cm cm cm nr nr Mn r 44 M 4 P4 M4 Pn M r nr nr 4 4nr Pn M n r r 7/5/ 5 7/5/ 6 f, f, Pn r, n r i,, i,,, nr M n r c, cm, 7/5/ 7 c c c M csin csin csin nr c, cm, ccos ccos ccosn r nr cm cm cmn r P iag c c c c a M Mn c, cm, PM a n,, r Mn c, cm, Mn,, Pa r 7/5/ 8 r r M 6c, cm, c c c c c c c c c c M6 c, cm, c c c c M6,, 6 c c cm cm cm cm cm c M x 6, f c, f -? x c PID 6,, a 6,, M P M y c PID,6 c M 5 6 y 4.7 7/5/ 9,,,, nr, lit,,,, i CR s, i 7/5/ 4
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7// 49
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[] Yan J, Zao Z Y, Liu H X, Quan Q. Fault Dtction an Intification for Quarotor Bas on Airfra Viration Signals: A Data-Drivn Mto. In: Procings of t 4t Cins Control Confrnc. Hang Zou, Cina: 5. 656-66. 4. 7// 5 7// 6. 7// 7.4 4 7// 8 Stat of Carg, SoC SoC[,] SoC=SoC= 7// 9 SoC SoC i s S S w, Q R R w ax, SSoC iar Q ax A s w V S i R Cv OCV VVCvOCV(S) OCV-SoC 7// EKFUKFSoCR EKF SoC UKFSoCR SoC SoCSoC 4.5-4.6 -- 4.7 UKFSoC [] H W, Williar N, Cn C, t al. Stat of carg stiation for lctric vicl attris using unscnt Kalan filtring[j]. Microlctronics Rliaility,, 5(6): 84-847 7// 7//
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