Nzira yekuunganidza sei quadrupter nemaoko enyu. Kugadzirisa uye kutonga quadrocopter

Quadrocopter igamba rinokufambisa pamutambo weredhiyo neine brushless motors, yakagadziridzwa nemagetsi. Kuumbwa kwezvipfeko zvakadaro kunosanganisira bhururu rinotambaira-rotor platform. Pakubhururuka, chinhambwe chinotora nzvimbo yakanyatsoenderana nechepasi, inogona kumira panzvimbo yakasarudzwa, inoenda kumativi, kumusoro uye pasi. Kuvapo kwezvimwe zvivako zvinowedzera iyo inobvumira quadrocopter kuti iite zviito zvakasununguka zvendege.

Quadrocopter nekhamera

Iyi svondo yakagadzirirwa nevhutori vana, iyo inotenderera diagonally mune zvakatarisana. Rotor inotungamirirwa nepurosesa iyo inoshuma data kubva kune gyroscopes matatu yakagadzirirwa kugadzirisa uye kugadzirisa chinzvimbo chiri munzvimbo mune mapuraneti ose matatu. Kutenda ku-accelerometer zvinogona kuitika munzvimbo yakakwana. Fixation kvadrokoptera pakakodzera kukwirira ndeyekushandisa kwebaro bhora. Chigadzirwa chacho chakasununguka munzvimbo nemhaka yekuti kukurumidza kwekushanduka kweimwe kana mamwe maviri motori ari kuchinja. Iko kune rugwaro rwe quadrocopter rine humwe hunofamba.

Iyo maikirwe ekutanga

Iyi nhungamiro yakatanga kukura muna 2006. Vagadziri veGermany, Ingo Busker naHolgen Busse vakasika quadrocopter nemaoko avo. Pakati pake akaunganidza boka guru revanhu vanofarira - RC-modellers, programmers, designers. Pakati pegore ra2006 quadrocopters yakatanga kuwedzera uye inoramba ichifamba mumhepo. Zvigadzirwa zvakadaro zvakasiyana nemhepo inotungamirirwa neredhiyo rega rega nenzira yakanaka nekuda kwechimiro chekugadzirisa nekugadzirisa. Iyo midziyo inodiwa ye quadrocopter inogona kutengwa, uye ipapo kune nzvimbo huru yekugadzira. Pamusoro pezvo, kana chiitiko chekuwa, kazhinji kazhinji kunodhura kugadzirisa chigadzirwa chakadaro kudarika helikopta inodzorwa neredhiyo.

Nzira yekuunganidza sei kane newavo mavo: kurayirirwa

Chimiro chechigadzirwa chacho chinogona kuitwa pachako. Kuti uite izvi, hazvirevi zvinhu zvakawanda zvinodiwa. Pakati pavo chimwe chikamu cheplywood 150 x 150 mm, square aluminium profile 14 x 14 mm. Raizi dzinogona kugadziriswa nemakona pa diagonal ye square. A thin thin aluminium tape inogona kushandiswa kugadzira chikwata chekumhanya uye bheteri. Nhivi imwe neimwe kubva pakati inenge yakareba 300 mm, uye buri danda - 250 mm. Makomba emotokari pamigumo yemiti yacho inogona kuitwa mushure memusangano, kuisa zvinhu zvose pane engjini.

Radio inonzi controlled quadrocopter: urongwa hwezvinhu zvinodiwa zvipfeko

• Zvishandiso Turnigy 9x.
• Control board.
• Bhati yemuchina.
• Simba bhatiri pa quadrotor pachake.
• Propellers.
• Vateresi.

Kuungana kwe quadrocopter

Kutanga, iwe unofanirwa kuisa bhodhi rekutonga, uye edza kuiisa pedyo nechepakati pepamberi sezvaunokwanisa. Izvi zvinoreva kuti zviri nani kuti uone zvinhu zvose zviri mberi, kuitira kuti mushure mekunge usina matambudziko nekuenzanisa uye zvimwe zvinhu. Makomba akadonhedzwa kuburikidza neplywood yakambomwa yakagadzirwa, zvakananga kumagumo e-aluminium matanda. Marefu mashekeri esimbi anoshandiswa kuputira bhodhi zvakananga kumatanda. Kutaura pamusoro pekuunganidza gumi neine nemaoko ako, zvinofanira kuonekwa kuti masikati haafaniri kudonhedzwa, kubva pano bhatiri iri pedo navo sechisimba sezvinobvira.

Mune imwe nguva pedyo nebhodhi, unofanirwa kuisa awakagamuchira. Inogona kuchengetedzwa ne superglue. Kana kugoverwa kwekugoverwa kwemupiki kwakangofanana neyomutambo wekutungamirira, zvino zvinokwanisika kuita sangano risina kumira kwavari ravanoshandisa mabhii maviri ematare.

Injini nzvimbo

Kana iwe uchifunga nezvekugadzira quadrupter nemaoko ako pachako, iwe unofanirwa kuisa marara uye kuvhara masango ejini. Nharaunda kubva pamakona kusvika kumatanho ekufambisa mumatambudziko ose anofanira kunge akafanana. Iko rinokonzerwa nemuswe webundo, iyo inoputika kubva pasi pejini, inofanira kuputika kuburikidza nehuwandu hwose hwekona, iyo ichaita kuti zvibone kuona kana shaft isinganamati kumativi ayo.

Disassembly ne wiring

Panguva ino, inguva yekuita mabasa anotevera. Chokutanga, "spider" yevashandi vanokwana mana, uye masimbi awo e simba anofanira kunge akabatanidzwa nenzira yakafanana nemashandisirwo akasiyana-siyana. Shandisa maitiro ekudzivirirwa ari munzvimbo imwe chete - apo bhatiri yakabatana "spider". Zvose zvakasara zvinofanira kunge zvakasungwa, uye zvisimbise kupisa shrinkage, kubva mukubhururuka kubva kudengenyeka, zvishamiso zvakasiyana zvinogona kuitika. Iyezvino unofanirwa kubatanidza foni dzemagetsi dzevanotyaira maererano nemainjini engjini pane bhokisi rekutonga.

Pose paunounganidzwa zvinhu zvose, unogona kuenderera mberi nekuedza nekugadzirisa zvinetso zvinobuda.

Chimwe Chingasarudzwa

Chinhu chokutanga kuti utaure kune avo vanofarira nzira yekuunganidza chegumi neine nemaoko enyu: musaponesa pane mamwe mashoko. Pane zvakawanda zve firmware, zvigadziriswe zve sensor, vatungamiri vakagadzirira, asi munyaya ino ticharondedzera kushandiswa kweArduino Mega, MegaPirate firmware, uyewo mashoma mashoma.

Mashoko

Kutanga iwe unoda magetsi mana pamwe 1 spare. Vatengesi vanofanirwawo kutorwa nechekuchengetedzwa, panofanira kuva nehuwandu hwe 2 hutano uye 2 - kudzokera shure. 4 speed regulators, pamwe chete zvishoma. Sezvo simba rine simba, hazvina kukodzera kutora rimwe bhetori-refu, sezvo zvingowedzera kuwedzera kune chigadzirwa. Zvakanyanya kukodzera kusarudza zvishomanana zviduku kuitira kuti uzvishandure zvakare. Chimiro chinofanira kuva chakasimba uye chiedza sezvinobvira. Izvo zvakasiyana zvinotsanangurwa pamusoro apa zvinogona kunzi zvakakodzera. Sezvo uropi nemashonga epachigoni unogona kushandisa microcontroller inogadziridza, bhodhi - AllInOne, accelerometer, gyroscope, zvigadziro zvekutonga, mabheteri, bheja, nezvimwe zvakawanda. Pasi pekupedzisira inofanira kunzwisiswa nhamba inofanirwa yehutsani, tsvina, waya, zvigaro. Iwe uchadawo zvishandiso zvebasa, zvakadai sesimbi soldering uye zvishandise kushanda nayo, gorofu, pamwe nemaoko ane unyanzvi.

Kuungana kwesimbi uye kugadzirisa kwayo

Kana zvinhu zvose zvawakatsanangura pamusoro apa, unogona kutanga kukora, kusungurudza uye kushandura. Chimiro chacho chinogona kuitwa nenzira imwechete sezvakatsanangurwa kare, asi zvinokwanisika kuratidza mafungiro. Asi imwe chete pfungwa inokosha apa: iva nechokwadi chokuti kureba kubva pakati kusvika kumagumo emiti yacho zvakafanana, apo zvinodzivirira hazvifaniri kugunana uye chikamu chikuru cheplywood panguva yekutenderera, sezvo zvose sensor, ubongo, uye kamera zvigadzirirwa pairi , Kana iwe uchida. Iyo inoratidzirwa inofanira kuiswa pa tape yakareba, rubber kana silicone kuderedza kudengenyeka. Pakati nepakati pamagumo emiti, zvinogadzirisa kugadzira mutezo, dense mambakwedza emabhagi kana mabhaikoni emabhaikoni ayo achatora chesitisi mabasa panguva yekukwira.

Sensor uye nzira dzekuzviwana

Kusiyana kwakanyanyisa ndiko kutengwa kwebhodhi rakapedzwa rine nheyo huru ina: gyroscope yakagadzirirwa kuyera kukurumidza kwechimbichimbi; Accelerometer yekuyera kukuvadza nekukurumidza; Bharometer inosarudza urefu uye inobata quadrocopter pairi; Magnetometer, iyo inogadzirisa kutungamira kwekufamba.

Panguva ino, unogona kuwana pamusikawo makadhi akadaro, kuwedzera kune zvitsva zvinotaurwa, panewo kugamuchira GPS kunoshandiswa kushandiswa kwezvikwata zvinodzivirira.

Brain Building

Kuita kuti kuiswa kwacho kuve kwakakodzera sezvinobvira, zvakakosha kuti uise zvinhu zvose mubhodhi iyo inoita mabasa emuenzaniso. Iyo pinout inotsamira pane rudzi rwe firmware iyo iripo panguva yekuunganidza, saka pane imwe neimwe, zvinhu zvose zvinofanira kunge zvakabatana maererano nemirayiridzo.

Kugadzirisa firmware nekukanda

Tsvaga iyo firmware inodiwa panguva ino haisi yakaoma, saka iwe unofanirwa kuikora archive yakakodzera uye kuisunungura. Mushure mokunge Arduino firmware yave yakanyatsogadziriswa, unogona kukopa purogiramu yekugadzirisa, uye wovhara A5 pin neGND. Apo purogiramu yacho yatanga, mumutambo weOption, sarudza iyo Arduino COM port, uye muAction menu, sarudza AC2 Setup. Zvakakosha kuti kugadziriswa kwe quadrocopter kuchibudirira, uye nokuda kweizvi unoda kutevera mirayiridzo inotangira pamberi pako mushure mekunyanya bhokisi guru. Mune rimwe firimu iwe unofanirwa kutamisa zvigadziri pamharaunda iri kure kure nekukwirira uye zvishoma, uye mune imwe window unofanira kubvunzwa kuti uone kuti chigadziro chacho chinotarisana nechinonyatsodzika ma sensor.

Kuwedzera basa

Kudzora kwechidimburo kunogadziriswa mushure mekugadziriswa. Mushure mokunge mapedza kugadzirisa, A5 neGND vanogona kuvhurwa, uye ipapo mumenu, shandisa AC2 Sensor, uko unogona kuona kana masero inoshanda zvakanaka, muRaw Sensor tab. Chimwe nechimwe chebhodhi iyo ine sensor inofanira kushandiswa zvakajeka sezvinobvira, kureva, sekushandurwa, saka museve unowira, kana usingasviki kana kupfuura hunodiwa hunoda, iwe une matambudziko pamwe neanzwi kana kuti coefficients mumutsetse.

Izvo zvinodiwawo kutarisa kushanda kwemupiki. Izvi zvinoitwa pane iri kutevera. Kana danho rekufambisa rakarurama, saka kana ganda rinokonzerwa nemhepo kwemaviri masikati kusvikira kurudyi, LED tsvuku inofanira kuve yakanyarara. Apo iyo manipulator inofamba zvishoma nezvishoma muruboshwe rworuboshwe, panofanira kuva neenharaunda imwechete yakatsauka.

Mhinduro

Kana zvose zvayambuka cheki, zvinokwanisika kuisa zvinodzivirira, uye zvino kuedza kubhururuka. Kuti uite izvi, quadrocopter inofanira kuiswa kune imwe nzvimbo kubva kune iyo pachayo, ichinamatira ruoko rworuboshwe pasi uye kurudyi, uye wobva wawedzera gesi zvishoma nezvishoma. Kana iyo faira ikabviswa, izvi zvakanaka kwazvo, uye kana ikazununguka, iwe unofanira kuchinja PID. Izvi zvinoitwa muPID Config. Izvi zvinoitwa mumamiriro ose emunhu mumwe nomumwe, kureva kuti, hapana mhinduro yepasi rose. Iye zvino unoziva kuvaka imwe quadrupter nemaoko ako.