Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

THIT K V CH TO M HNH MY BAY-QUADROCOPTER

DESIGN AND MANUFACTURE QUADROCOPTOR-AIRCRAFT MODEL
SVTH: Lm Ngc Tm
Lp 07CDT1, Khoa C Kh, Trng i hc Bch khoa, i hc Nng

GVHD: PGS.TS Trn Xun Ty

Khoa C Kh, Trng i hc Bch khoa, i hc Nng
TM TT
Bi bo co ny trnh by c s l thuyt v nguyn l hot ng ca m hnh my bay
Quadrocopter. y l mt dng my bay ln thng c nng bi bn cnh qut t trn mt
khung ch thp, hot ng da vo cc nguyn l kh ng hc. M hnh c thit k v ch to
qua qu trnh tnh ton kt cu c kh, cn bng ng hc v s kt hp giao tip gia khi cm
bin my bay t cn bng vi iu khin t xa bi sng RF.
ABSTRACT
This report presents the theoretical background and the operation principle of
Quadrocopter aircraft. This aircraft is lifted by four rotors on a cross-shaped frame that is
operated according to the principles of aerodynamics. The model is designed and manufactured by
the process of mechanical structure calculation, dynamic balance and combination of
communication between sensor in which balanced aircraft with the remote controlling by RF wave.

1. t vn
Hin nay, trong mt s lnh vc dn dng, qun s hay khoa hc v tr con ngi
dn thay cc phng tin bay c ngi li bng cc thit b bay khng ngi li, bi cc
tnh nng u vit nh c kh nng hot ng t ng hoc l iu khin t xa, c kh nng
hot ng nhng ni m con ngi kh tip cn. Ngoi ra cn c ng dng rng ri
trong mt s lnh vc nh quan st ni la, kim tra mi trng, gieo trng, phun thuc tr
su nng nghip
ti nghin cu v ch to m hnh my bay Quadrocopter l mt ti i hi
kin thc tng hp ca rt nhiu lnh vc nh l thit k c kh, ng lc hc, kh ng
hc, mch iu khin, giao tip my tnh, truyn nhn tn hiu, x l nhiutrong khi y
l mt loi ti mi, kt qu nghin cu trong nc khng nhiu v hu nh cha c
tng kt. V vy, ti ny s gii thiu tng quan cng nh phn tch nguyn l hot
ng, c s l thuyt v thit k ch to m hnh bay Quadrocopter c thc hin ti Vin
Cng ngh C kh v T ng ha thuc i hc Bch khoa nng.
2. C s l thuyt v m hnh ton ca Quadrocopter
2.1. L thuyt iu khin Quadrocopter
Cp cnh qut pha trc (front) v pha sau (back) quay ngc chiu kim ng h,
trong khi cp cnh bn phi (right) v bn tri (left) li quay thun chiu kim ng h
nhm cn bng moment xon c to ra bi cc cnh qut trn khung. C 4 cnh phi sinh
ra mt lc y bng nhau khi Quadrocopter ct cnh v h cnh (throttle up/down). Gc
xoay (roll) c iu khin bng cch thay i tc gia cnh bn phi v bn tri sao
cho vn gi nguyn tng lc y sinh ra bi cp cnh ny. Tng t nh vy, gc nghing
(pitch) c iu khin bng thay i tc ca 2 cnh pha trc v pha sau m vn gi
1

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

nguyn tng lc y. Trong khi , gc lch (yaw) c iu khin nh vo s thay i tc

ca cp cnh phi tri so vi tc ca cp cnh trcsau m tng lc y 4 cnh
vn khng i Quadrocopter gi c cao (Hnh1).
2.2. C s l thuyt m hnh bay Quadrocopter
2.2.1. Nghin cu l thuyt chuyn ng ca Quadrocopter v xy dng m hnh ng lc
hc my bay
Nguyn l hot ng chnh ca
m hnh ny hot ng da trn s
chuyn ng ca cc dng kh do cnh
my bay to ra di chuyn xung di
lm vt bay ln trn v s iu chnh
vn tc tng ng c s lm thay i
hng bay ca Quadrocopter (Hnh 2).
m t cc chuyn ng ca
mt khung cng 6 bc t do cn 2 h
quy chiu (Hnh 3):
e1 h quy chiu qun tnh Tri t.

eB h quy chiu khung Quadrocopter.

Hnh 1: Chuyn ng cn bn ca Quadrocopter

S nh hng Quadrocopter
c biu th bi 3 gc Euler qua ma trn xoay R (1)

c c

R= s c
s

c s s s c
s s s c c
c s

c s c s s

s s c c s

c c

(1)

Lc sinh ra ca cc rotor Fi b.i2 , i=1,2,3,4

Khi lc nng cho c
khung my bay l:
4

i 1

i 1

T | Fi | i2

(2)

Phng trnh m t gia

tc Quadrocopter:
..
x
0
0
.. ..
T

r y g. 0 R 0
m
1
..

1
z

(3)

Phng trnh quan h

gia ma trn qun tnh
I R ( I X , IY , I Z ) , momen quay M
v momen quay hi chuyn

..

..

Hnh 2: M hnh momen quay

M G : I . ( I . ) M G M
(4)
Ta c momen quay hi chuyn ph thuc vo cc yu t vn tc xoay vi
2

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

u1 T , u2 , u3 , u4 ln lt l cc n v momen quay cc chuyn ng roll, picth, yaw hay

vn tc quay uT (u1 , u2 , u3 , u4 ) v
vn tc gc i my bay s c
g (u) 1 2 3 4

(5)

Kt hp (5) vi (3) v (4) ta c

phng trnh ng lc hc: (6)
..
u
x (cos sin cos sin sin ). 1
m
..
u
y (cos sin sin sin cos ). 1
m
..
u
z g (cos cos ). 1
m
.. . . I y I z
I .
L
(
) R g (u ) u2
Ix
Ix
Ix
.. . . I I
I .
L
( z x ) R g (u ) u3
Iy
Iy
Iy

.. . . I I
1
( x y ) u4
Iz

Hnh 3: H quy chiu A v B vi chiu di 1 trc L, tng

khi lng m hnh m

Iz

2.2.2. M hnh tnh ton kh ng hc

Vic tnh ton kh ng hc m t cc tc ng khi quay ca cnh qut trong khng
kh. Vi cc thng s: TMT (N) l lc y ca cnh qut, hng ln, S ( m 2 ) l din tch ca
qut, S ( kg / m3 ) l mt khng kh
Ta c phng trnh ca lc y:
TMT 2S SvI2 (N)

(7)

Do lc y TMT WP

mg
(trng lng c mang bi 1 cnh qut):
4

Vn tc dng kh cho mi cnh qut: VI (WP ) / (2 S S ) (m/s)

(8)

2.3. Thit k v ch to Quadrocopter

2.3.1. Tnh ton thng s ch to:
Tng khi lng 1.2kg, kch thc 620 620 250mm mt khng kh trong iu
0
kin nhit 25 C v p sut khng kh ti mt t khong 1atm: 1.249kg / m3 ,

4 0.125 0.049m , ta tnh c tng lc nng:

2
S D

TMT '=4TMT =4WP 4 2S SvI2 mg 1.2 9.8 11.76( N ) ,

suy ra VI (TMT ') / (2S S ) (11.76) / (2 1.249 0.049) 9.8(m / s)

Theo tnh ton trn nng Quadrocopter khi mt t ta tnh chn nh sau:
m bo Quadrocopter c th chuyn ng c th khong cch gia 2 ng c

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

trn cng 1 trc phi di l ( Dcanhquat / 2) .

Vt liu c s dng lm trc l nhm 10 15mm nh, c khot phn khng chu
ng sut ln v php (BAKELITE) dy 1.5mm nh v d gia cng.
ng c Emax CF2822, c thng s 1200kv(RPM/V), in p khong 6-12v, dng
n 15A , y l ng c mt chiu khng chi than Brushless DC motor c tc cao,
momen ln, khi lng nh rt ph hp cho nng my bay c nh (Hnh 4a).
B iu khin tc Tower pro ESC 18A, ngoi chc nng thay i dng cho ng
c th ESC nhn tn hiu iu bin rng xung PWM 50Hz t b iu khin v thay i
rng xung t 1-2ms xc nh RPM ca ng c (Hnh 4b).
Pin Lipo 3cell 2200mAh 30C v c dng 2.2 30C 66 A cp cho 4 ng c
hot ng tt trong khong 15 pht.(Hnh 4c).
Cnh loi APC 10 4.5 inch to lc y khong 1.95N >>L/4.

(a)

(b)

(c)

Hnh 4: Linh kin c tnh chn dng cho Quadrocopter

a)ng c Brushless Emax CF2822; b) ESC TowerPro 18A; c) pin Lipo 2200mAh 30C

2.3.2. Thit k tng quan h thng iu khin

M hnh tng quan Quadrocopter gm 3 khi (Hnh 5):
Khi iu khin c b pht sng RF iu khin tn s 2.4GHz, pin Lipo 11.1V
Khi x l v xut tn hiu gm cm bin vn tc quay, cm bin gia tc, b thu
sng RF , b chip x l, b iu tc ESC v ng c.
Khi giao tip my tnh qua RS232.
M hnh bay Quadrocopter cn c 1 b x l
tn hiu mnh c th lm cho m hnh c th t
iu chnh cn bng, cc m un c th hin tng
qut Hnh 6. Vic x l nhiu tn hiu truyn v
nhn cng ht sc quan trng, trong ti ta dng b
Hnh 5: S h thng iu khin
vi iu khin ATmega128 s dng xung clock c tn
s cao nht l 16 MHz nng cao hiu sut x l, dng b ADC 10-bit c tn hiu
ca cm bin, sau khi x l bng b lc s xut tn hiu iu khin tng ng n tng
ng c qua 4 knh PWM c lp 16-bit c kh nng x l tn hiu tt, b iu khin 6
knh c tn s 2.4GHz c th truyn tn hiu sng radio n 200-300m.
Cm bin dng trong mch x l l Accelerometer BMA 180, y l loi cm bin
gia tc 3 trc X,Y,Z v cm bin vn tc gc Gyro ITG 3200 c m phng xut tn hiu
v my tnh qua ng truyn RS232 Hnh 6 .

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

Sau y l lu gii thut iu khin chnh iu khin Quadrocopter: (Hnh 8).

Hinh 6: M phng tn hiu 3 trc cm bin Gyro ITG3200

Hinh 8: Lu gii thut iu khin

chnh.
Hinh 7: M phng tn hiu 4 ng c nng Quadrocopter

Ta c s mch nguyn l cm bin th hin chi tit trong Hnh 9.

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

Hinh 9: S nguyn l mch cm bin

Sau khi hon thnh thin v c kh,lp trnh v m phng tn hiu ng c (Hnh 7),
ta c c m hnh Quadrocopter c th bay c trong khng gian nh (Hnh 10).

Hnh 10: M hnh Quadrotor c ch to v bay thc t

3. Kt lun
Qua qu trnh nghin cu l thuyt v c s l thuyt v ng hc, ng lc hc,
kh ng hc cng nguyn l hot ng ca nhiu loi m hnh bay c th tnh ton thit
k v thi cng ch to c dng m hnh bay ln thng Quadrocopter. M hnh c
kim nghim bay thc t, thi gian mi chuyn bay khong 15 pht. M hnh bay c kh
6

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 8 i hc Nng nm 2012

nng linh hot nng ln, h xung, bay ti, bay li, sang tri, phi v c kh nng xoay
thn.
Kt qu nghin cu ny c th p dng thc t. Nu c trang b thm nhng cm
bin tt nh la bn, h thng nh v GPS, c camera truyn d liu xa v trn cao v th
c th s dng trong nhiu lnh vc nh qun s hay do thm hoc pht hin nhng s c
t trn cao nh chy hay n nhng khu vc nguy him m con ngi khng th tip cn.
TI LIU THAM KHO
[1] Paul Pounds, Robert Mahony, Peter Corke ,7/2010, Modelling and Control of a Quad
- Rotor Robot, Australian National University,Canberra, Australia CSIROICT Centre.
[2] A.T.Conlisk, 11/2007, Modern helicopter aerodynamics, The Ohio State University.
Columbus.
[3] Starlino,12/2010, Guide To using IMU (Accelerometer and Gyroscope Devices) in
Embedded Applications. URL http://www.starlino.com/imu_guide.html
[4] RC Groups, Quadrocopter and Tricopter Info Mega Link Index, 12/2010.