i TRNG I HC S PHM K THUT TP. HCM KHOA C KHI CH TO MAY B MN C IN T WX N TT NGHIP NGHIN CU V CH TO M HNH MY BAY QUADROCOPTER GVHD:Th.S Phm Bch Dng SVTH :Nguyn Hi ng Tm MSSV:06111089 SVTH :Nguyn L Nht Thng MSSV:06111096 TP. H CHI MINH, thang 01 nm 2011 ii B Giao dc va ao to Trng i hc S Phm K Thut Tp. HCM Khoa C khi Ch to may B mn C in T ---o0o--- Cng Hoa X Hi Ch Ngha Vit Nam c lpT doHnh phuc ---o0o--- NHIM V N TT NGHIP H va tn :Nguyn Hi ng TmMSSV: 06111089Nguyn L Nht ThngMSSV: 06111096Lp 061111Nganh C din t 1.1. TN AN NGHIN CU V CH TO M HINH MY BAY QUADROCOPTER 1.2. NHIM V: - Thit k va thi cng m hinh Quadrocopter vi cac thit b tng thich. - Xy dng thut toan diu khin Quadrocopter co kh nng t thng bng trn trc, bay cn bng trong khng trung - Xy dng chng trinh giam sat t may tinh dung LabVIEW 1.Ngay giao nhim v d tai:30/08/2010 2.Ngay hoan thanh nhim v:21/01/2011 3.H va tn giao vin hng dn: ThS. Phm Bch Dng 4.H va tn giao vin phn bin:ThS. L Thanh Tung Ni dung va yu cu ATN d thng qua B mn. Ngay . thang . nm 2011 CH NHIM B MNGIAO VIN HNG DN PHN DANH CHO KHOA, B MN: Ngi duyt (chm s b): .....................n v: ....................................................Ngay bo v: ...........................................im tng kt: .........................................Ni lu tr d an: ....................................iii Nhn xt ca gio vin hng dn ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ TP.HCM, ngaythangnm 2011 Th.S Phm Bch Dng iv Nhn xt ca gio vin phn bin ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ TP.HCM, ngaythangnm 2011 Th.S L Thanh Tung v LI CM N Trc tin, chung em xin dc gi li cm n trn trng va su sc nht dn thy PhmBchDng-ngidhtsctodiukinvatntinhhngdn,gop, dng vin chung em trong sut qua trinh nghin cu thc hin d an nay. Xin chn thanh cm n dn tt c qu thy c thuc Khoa C khi Ch to may, B mn C din t trng i hc S phm K thut TP.HCM, nhng ngi d trang b cho chung em nhng kin thc c bn, cng nh dnhit tinh hng dn giup d chung em trong sut khoa hc va qua. Vasaucung,xindccmn,chiasnimvuinayvigiadinh,ngithn, cung tp th lp C din t khoa 2006 - nhng ngi d lun bn, quan tm giup d va to diu kin thun li d chung ti dc hc tp, nghin cu va hoan thanh d an tt nghip nay. Tp. H Chi Minh, ngay 01 thang 01 nm 2011 Nhom thc hin Nguyn Hi ng Tm Nguyn L Nht Thng vi TM TT BO CO Quadrocopter,condcgilaQuadrotorHelicopter,lamtdngmaybayln thng dc nng bi bn canh qut dt trn mt khung ch thp. Mhinhdcxydngthamnc2yutlanhvachcchn.Nhng chuyn dng ca m hinh dc do dc thng qua b IMU (Inertial Measurement Unit, con gi la b do lng quan tinh) bao gm mt con quay hi chuyn hai trc va cm bin d nghing ba trc va da v vi diu khin thc hinthut toan diu khin PID cho 4 dng c thng qua phng phap diu ch d rng xung PWM. vii ABSTRACT A Quadrocopter, also called a Quadrotor Helicopter, is an aircraft that is lifted by four rotors on a cross-shaped frame.WesucceededinbuildingaQuadrocopterwithstiffandlightweightstructure. OurQuadrocopter`sin-flightdynamicswasmeasuredviaanIMU(Inertial MeasurementUnit)whichequippedwithadual-axisgyroscopeandathreeaxistilt-sensor.Amicrocontrollertookthesesensors`inputsandperformedPIDcontrol algorithm on the four motors by varying PWM signals sent to each of the motors. viii MC LC Trang biai Nhim v d an tt nghipii Nhn xt ca giao vin hng dniii Nhn xt ca giao vin phn biniv Li cm nv Tom tt d anvi Abstractvii Mc lcviii Danh mc hinhx Danh mc bngxiii Cac quy c va hng s lin quanxiv CHNG 1: TNG QUAN 1.1S khac nhau gia Helicopter va Quadrocopter1 1.1.1 V kt cu c khi va nguyn l hot dng1 1.1.2 V tinh nng diu khin3 1.2Tinh hinh nghin cu thuc lnh vc d tai41.2.1 Lch s phat trin ca may bay Quadrocopter4 1.2.2 Tinh hinh nghin cu nc ngoai 7 1.2.3 Tinh hinh nghin cu trong nc10 1.3Ni dung nghin cu ca d tai12 1.4Phng phap va phng tin nghin cu13 CHNG 2: L THUYT TIP CN 2.1L thuyt diu khin Quadrocopter14 2.2 M hinh toan ca Quadrocopter17 2.2.1ng hc17 2.2.2ng lc hc20 2.2.3M hinh Newton-Euler21 2.2.4Khi dng hc27 2.3iu khin dng c mt chiu khng chi than32 2.4B lc Kalman36 2.4.1Khai nim b lc36 2.4.2B lc Kalman la gi ?36 2.4.3Bn cht ca b lc Kalman38 ix 2.4.4Quy trinh c lng38 2.4.5So sanh cac b lc vi b lc Kalman40 2.5Giam sat - diu khin giao tip may tinh dung phn mm LabVIEW42 2.5.1 Tng quan v LabVIEW42 2.5.2 Tim hiu mt chng trinh LabVIEW43 CHNG 3: XY DNG M HINH QUADROCOPTER 3.1S d khi tng th ca h thng46 3.2Thit k c khi47 3.3Thit k h thng diu khin51 3.3.1Tay diu khin52 3.3.2Mch trung tm53 3.3.3Module RF57 3.3.4 Cm bin IMU58 3.3.5ng c BLDC va B diu tc ESC59 3.4Xy dng thut toan diu khin61 CHNG 4: KT QU THC NGHIM 4.1Xy dng b lc Kalman cho m hinh may bay Quadrocopter64 4.1.1 X l tin hiu cm bin IMU 5 bc t do64 4.1.2 Ti u hoa thut toan Kalman65 4.1.3 Xac dnh cac thng s va hoan chnh b lc Kalman66 4.2Chng trinh giam sat dung phn mm LabVIEW67 4.2.1 Kim tra va x l tin hiu cm bin67 4.2.2 Giam sat trng thai hot dng ca Quadrocopter69 4.3Kt qu thc nghim va nhn xt73 4.3.1 ap ng lc dy ca ESCMotor73 4.3.2 ap ng ca m hinh vi cac thng s diu khin PID77 CHNG 5: KT LUN 5.1Nhng kt qu dt dc84 5.2Nhng kt qu cha dt dc va bin phap khc phc85 5.3Hng phat trin ca d tai85 Tai liu tham kho86 Ph lc A:Bn v m hinh may bay Quadrocopter87 Ph lc B:Vi diu khin ATmega12888 x DANH MC HINH Hinh 1.1RC Helicopter T-rex 6001 Hinh 1.2Cm swashplate trn c cu canh ca Helicopter1 Hinh 1.3Cm canh qut dui ca Helicopter2 Hinh 1.4Quadrocopter2 Hinh 1.5Nguyn l hot dng ca Quadrocopter3 Hinh 1.6Phn loi vt th bay4 Hinh 1.7Breguet- Richet Gyroplane No.15 Hinh 1.8Quadrocopter ca Etienne Oemichen5 Hinh 1.9'Bch tuc bay6 Hinh 1.10Convertawings Model A6 Hinh 1.11Sn phm X-Pro ca hng DraganIly Innovations7 Hinh 1.12Sn phm MD4-200 ca hng Microdrone8 Hinh 1.13May tinh d hin th cac thng s v tinh trng ca may bay8 Hinh 1.14Sn phm AR.Drone ca hng Parrot9 Hinh 1.15Sn phm MK Basicset ME ca hng MikroKopter9 Hinh 1.16M hinh may bay nghim thu ti S Khoa hc - Cng ngh10 Hinh 1.17Mt chic may bay 4 dng c ca cu lc b m hinh11 Hinh 1.18Quadrotor va nhom sinh vin C din t H Cng nghip Ha Ni11 Hinh 1.19Robot t hanh kiu Quadrotor ca Hc vin K thut Qun s12 Hinh 2.1nh ngha cac hng chuyn dng ca Quadrocopter14 Hinh 2.2Hover15 Hinh 2.3Throttle15 Hinh 2.4Roll16 Hinh 2.5Pitch16 Hinh 2.6Yaw17 Hinh 2.7H quy chiu E va B17 Hinh 2.8Cac lc va moment tac dng ln Quadrocopter20 Hinh 2.9Moment quan tinh khi hinh hp ch nht25 Hinh 2.10M hinh canh qut trong thuyt dng lng28 Hinh 2.11Thuyt c bn v canh qut29 Hinh 2.12Hinh dang khi dng hc ca canh31 Hinh 2.13ng c BLDC inrunner32 Hinh 2.14ng c BLDC outrunner32 Hinh 2.15S d du dy dng c BLDC va ESC33 xi Hinh 2.16Tin hiu PWM diu khin da vao ESC33 Hinh 2.17Nguyn l to dong 3 pha34 Hinh 2.18S d chui xung35 Hinh 2.19S d mch din ESC dung phng phap cm ng BEMF35 Hinh 2.20Cach thc x li tin hiu ca b lc37 Hinh 2.21Tin hiu thu dc cha dc lc ca may bay37 Hinh 2.22M hinh hoa b lc Kalman38 Hinh 2.23Cac bc xy dng b lc Kalman40 Hinh 2.24Gin d Bode va pha ca b lc bc nht40 Hinh 2.25Vi d so sanh cac tin hiu ng vao (mau xanh), kt qu ng ra b lc b ph (mau den), va b lc Kalman (mau d)41 Hinh 2.26Kh nng kt hp vi cac phn cng ca LabVIEW42 Hinh 2.27Front Panel va Block Diagram trong mt chng trinh LabVIEW43 Hinh 2.28Front panel44 Hinh 2.29Cac chc nng diu khin va ch th trong Front Panel44 Hinh 2.30Block Diagram45 Hinh 2.31Cac ham trong Block Diagram45 Hinh 2.32Mau sc ca dy d liu trong LabVIEW45 Hinh 3.1S d khi tng th ca h thng46 Hinh 3.2Thit k dung cu hinh chong chong dy (pusher propeller)47 Hinh 3.3Thit k dung cu hinh chong chong ko (tractor propeller)48 Hinh 3.4Mu thit k th ba49 Hinh 3.5M phng ng sut cho cu hinh chong chong dy49 Hinh 3.6M phng ng sut cho cu hinh chong chong ko50 Hinh 3.7M phng chuyn v cho cu hinh chong chong dy50 Hinh 3.8M phng chuyn v cho cu hinh chong chong ko50 Hinh 3.9M hinh may bay Quadrocopter thc t51 Hinh 3.10S d khi tay diu khin52 Hinh 3.11S d nguyn l tay diu khin52 Hinh 3.12Board diu khin53 Hinh 3.13Mch trung tm trn m hinh Quadrocopter53 Hinh 3.14S d khi mch trung tm54 Hinh 3.15S d nguyn l mch trung tm55 Hinh 3.16Board trung tm56 Hinh 3.17 Board giao tip RS23257 Hinh 3.18 Module RF s dng truyn thng UART57 xii Hinh 3.19IMU 5 bc t do va gyroscope LISY300AL58 Hinh 3.20Brushless motor FC2835-10T59 Hinh 3.21Canh qut GWS EP-1060Rx359 Hinh 3.22Canh qut EPP104560 Hinh 3.23ESC HiModel GX-40A60 Hinh 3.24ESC Hobbywing Pentium 30A61 Hinh 3.25Cu truc h diu khin61 Hinh 3.26S d khi tin hiu diu khin hoan chnh62 Hinh 3.27S d khi tin hiu diu khin hin ti62 Hinh 3.28Gii thut chng trinh diu khin chinh63 Hinh 4.1Vector trng lc xt trong 3 trc ta d ca cm bin gia tc64 Hinh 4.2B lc Kalman hoan chnh66 Hinh 4.3Giao din x l tin hiu dung Kalman trn LabVIEW67 Hinh 4.4S d khi x l tin hiu dung Kalman trn LabVIEW67 Hinh 4.5Khi VI VISA ConIigure Port68 Hinh 4.6Khi VI VISA Read68 Hinh 4.7Khi VI VISA Write68 Hinh 4.8Khi Spreadsheet String To Array68 Hinh 4.9S d khi Mathscript Node 68 Hinh 4.10Giao din giam sat trng thai Quadrocopter69 Hinh 4.11Giao din giam sat trng thai Quadrocopter bng hinh nh 3D70 Hinh 4.12Block Diagram chng trinh giam sat trng thai71 Hinh 4.13Chng trinh khi ArtiIicial Horizon71 Hinh 4.14Chng trinh khi 3D Picture72 Hinh 4.15Mt chng trinh LabVIEW hin th m hinh vt th 3D72 Hinh 4.16M hinh kim tra lc dy dng c73 Hinh 4.17 th dap ng lc dy (1) ca dng c76 Hinh 4.18 th dap ng lc dy (2) ca dng c76 Hinh 4.19S d khi b diu khin PID vi cac khu t l, tich phn, do ham77 Hinh 4.20 th dap ng PD ca goc pitch vi tac dng78 Hinh 4.21 th dap ng PD ca goc roll vi tac dng79 Hinh 4.22 th dap ng PID ca goc pitch80 Hinh 4.23 th dap ng PID ca goc roll81 Hinh 4.24Thc nghim dap ng diu khin goc vi m hinh trn gia d82 Hinh 4.25Nhng hinh nh bay thc t ca m hinh Quadrocopter83 xiii DANH MC BNG Bng 3.1M t cac chn kt ni ca module RF57 Bng 3.2Cac thng s k thut ca cm bin58 Bng 3.3Thng s k thut ca dng c FC2835-10T59 Bng 3.4Thng s k thut ca ESC HiModel GX-40A60 Bng 3.5Thng s k thut ca ESC Hobbywing Pentium 30A61 Bng 4.1Bng tham chiu dap ng lc dy (1) ca dng c74 Bng 4.2Bng tham chiu dap ng lc dy (2) ca dng c75 xiv CC QUY C V HNG S LIN QUAN I.Cc quy c: K hiun vM t Xmv tri dai theo trc xE Ymv tri dai theo trc yE Zmv tri dai theo trc zE radgoc roll (xoay quanh trc X) radgoc pitch (xoay quanh trc Y) radgoc yaw (xoay quanh trc Z) um/svn tc dai theo trc xB vm/svn tc dai theo trc yB wm/svn tc dai theo trc zB prad/svn tc goc theo trc xB q rad/svn tc goc theo trc yB r rad/svn tc goc theo trc zB E m vector v tri dai theo h quy chiu E ` E m vector vn tc dai theo h quy chiu E ``E m/s2vector gia tc dai theo h quy chiu E E rad vector v tri goc theo h quy chiu E ` E rad/s vector vn tc goc theo h quy chiu E rad/s2vector gia tc goc theo h quy chiu E V Em/svector vn tc dai theo h quy chiu E V B m/svector vn tc dai theo h quy chiu B v B m/s2vector gia tc dai theo h quy chiu B Brad/svector vn tc goc theo h quy chiu B Brad/s2vector gia tc goc theo h quy chiu B -vector v tri tng quat theo h quy chiu E ` - vector vn tc tng quat theo h quy chiu E - vector vn tc tng quat theo h quy chiu B ` -vector gia tc tng quat theo h quy chiu B -vector vn tc tng quat theo h quy chiu H ` - vector gia tc tng quat theo h quy chiu H xv -vector lc tng quat FE Nvector lc theo h quy chiu E FB Nvector lc theo h quy chiu B EGFN vector lc hp dn theo h quy chiu E BGFNvector lc hp dn theo h quy chiu B GB () -vector hp dn theo h quy chiu B GH -vector hp dn theo h quy chiu H UB

-vector chuyn dng theo h quy chiu B U1Nlc nng theo h quy chiu B U2Nmmoment xon roll theo h quy chiu B U3Nmmoment xon pitch theo h quy chiu B U4Nmmoment xon yaw theo h quy chiu B BNmmoment xon theo h quy chiu B R- ma trn xoay T- ma trn chuyn v J- ma trn tng quat EB -ma trn chuyn dng theo h quy chiu B EH () -ma trn chuyn dng theo h quy chiu H MB-ma trn quan tinh h thng theo h quy chiu B MH

-ma trn quan tinh h thng theo h quy chiu H OB ()-ma trn canh qut hi chuyn theo h quy chiu B OH () -ma trn canh qut hi chuyn theo h quy chiu H CB ( ) -ma trn Coriolis hng tm theo h quy chiu B CH () -ma trn Coriolis hng tm theo h quy chiu H S(...) -ma trn di xng lch Orad/svector tc d canh qut 1 rad/s tc d canh qut trc 2 rad/s tc d canh qut phi 3 rad/s tc d canh qut sau 4 rad/s tc d canh qut trai TMT N lc nng theo thuyt dng lng TBET N lc nng theo thuyt canh qut xvi QBET Nmmoment xon ca canh qut mA kg/s d thay di ca khi lng khng khi qua da qut p1Paap sut khng khi tac dng trc tip phia trn da p2Paap sut khng khi tac dng trc tip di trn da p Paap sut cn di p- Paap sut cn trn v1 m/s vn tc khng khi tac dng trc tip phia trn da v2 m/s vn tc khng khi tac dng trc tip di trn da vI m/s vn tc khng khi ngay ti da qut v m/s vn tc cn di v- m/s vn tc cn trn vVm/svector vn tc do chuyn dng ca dong khi ca canh qut vH m/s vector vn tc do vn tc goc ca li canh qut eP rad/svn tc goc ca canh qut dDBETN/mvi phn lc ko dLBETN/mvi phn lc nng dFBET N/mvi phn lc khi dng hc dTBET N/mvi phn lc khi dng hc theo phng dng dHBET N/mvi phn lc khi dng hc theo phng ngang uI radgoc hp gia dng ngang vi dng chia canh qut uIo radhng s zero goc tn uItw radgoc xon ca goc tn Iradgoc tn lu lng dong khi vao II.Cc hng s: K hiun vGia trM t arad-1 2 goc nng Am2 75.5 x 10-3din tich da canh qut bN s2 54,2x 10-6h s dy bBETN s2 54,2x 10-6h s dy theo thuyt canh qut bMTN s2 54,2x 10-6h s dy theo thuyt dng lng cm0.02chiu dai trung binh dng chia canh qut CD -0.05h s ko (drag) CL -0.05h s nng (lift) xvii dN m s21.1 x 10-6h s ko gm/s 29.81gia tc trng trng TPJNms2 104x10-6moment quan tinh quay tng cng di vi trc canh qutlm 0.22khongcachttmQuadrocopterdntm canh qut mkg1.365khi lng Quadrocopter NB -2s canh (blade) ca canh qut A kg/m3 29mt d khng khi 1 CHNG I: TNG QUAN 1.1S khc nhau gia Helicopter v Quadrocopter [1] Trcthngthngthng(Helicopter)vatrcthngbnchongchong (Quadrocopter,QuadrotorhayQuadcopter)dcxpvaoloimaybaycokhnng ct canh va h canh thng dng hay con gi VTOL (Vertical Take OII and Lading), c hai loi nay du co kh nng di chuyn theo 6 hng (ln-xung, trc-sau, trai-phi), kh nng dng yn ti ch (hover) ma may bay canh bng khng co. Tuy nhin, gia hai loi nay co nhng dim khac nhau c bn nh sau: 1.1.19NWFXFNKtYjQJX\rQOKRWQJ Soviloimhinhtrcthngthngthngcoktcuckhirtphctpva nhiu chi tit nh gia cng tinh xo, thi Quadrocopter dn gin hn rt nhiu, loi nay chgm4motordingncanhqutdcdtbngoccamthinhvung,trong khitrcthngmhinhthngthngbaogmhthngdaxoay(swashplate),rotor head va cac cn (arm rod) d thay di goctn (pitch) ca canh qut chinh thng qua cac servo nh. Hnh 1.1RC Helicopter T-rex 600 Hnh 1.2Cm swashplate trn c cu cnh ca Helicopter Ngoaira,trcthngthngthngconcohthngcanhqutduidlamtrit tiumoment do canhqut chinh gy ra. iu nay tiu tn dn 25 nnglng tng cng ca may bay. Nng lng nay khng sinh cng d nng may bay ma ch trit tiu moment xon, cho nn dy la nng lng v ich lam gim hiu sut ca may bay. 2 Hn na, cac h thng banh rng d truyn dng t motor chinh sang canh qut chinh va canh qut dui cng rt phc tp. Hnh 1.3Cm cnh qut dui ca Helicopter i vi Quadrocopter, kt cu ch gm 4 motor din ging nhau co lp canh qut dc dt 4 goc hinh vung va canh qut co th gn trc tip hay thng qua truyn dng banh rng, 4 motor nay dc chia ra lam 2 cp: trc-sau, trai-phi. Hnh 1.4Quadrocopter Chiu quay ca 2 motor trong mi cp la ging nhau, nhng chiu quay ca cp trc-sau va trai-phi la ngc nhau. Vi d: cp trc-sau quay cung chiu kim dng hthicptrai-phiquayngcchiukimdngh.Vacanhqutdungtrong Quadrocopter phi la 2 loi ngc nhau, mt loi quay cung chiu va mt loi ngc chiu kim dng h. Thng thng dung loi co goc tn c dnh (Iixed pitch). Mcdichcavicnayladtrittiumomentxondotngcpgyra.Tuy nhin,ngoaikhnngtomomenttrittiunhau,4motornaykhiquaydutolc nngchomaybay,khngnhhthnghthngduicatrcthngthngthng: khng to dc lc nng ma ch nhm lam trit tiu moment ca canh qut chinh. y la mt u dim ln ca Quadrocopter.3 Ngoai 4motor va canh qut rathiQuadrocopter khng conmt chi tit chuyn dngnaokhacchonndylamtlidimkhisdngvakhngcnphithayth cac chi tit nay khi b rt hay va chm nh Helicopter. Mt yu t rt quan trng na la do dng kinh canh qut ca Quadrocopter nh hn nhiu so vi Helicopter cho nn vic bay th nghim hay bay trong nha cng d dang va thun li, khng gy nguy him ti ngi xung quanh.Nguyn l hot dng ca loi Quadrocopter nay cng rt dn gin: Hnh 1.5Nguyn l hot dng ca Quadrocopter - trc-sau:ddivbntrc,motorphiatrcgimtcsovimotorsauva ngc li d di v phai sau, motor sau gim tc so vi motor trc. - trai-phi: d di v bn trai, motor trai gim tc so vi motor phi va ngc li d di v bn phi, motor phi gim tc so vi motor trai. - ln-xung: tng tc haygim tc dng thi4 motor s lam tng lc nng hay gim lc nng d bay ln hay xung. - xoay: mun xoay cung chiu kim dng h thi cp motor quay cung chiu kim dng h (vi d trc-sau) s quay chm hn cp motor quay ngc chiu kim dng h (vi d trai-phi). Ngc li mun xoay ngc chiu kim dng h thi cp motor quay ngcchiukimdngh(trai-phi)squaychmhncpmotorquaycungchiu kim dng h (trc-sau). 1.1.29WtQKQQJLXNKLQ Xt v mt nay thi Quadrocopter doi hi h thng mch diu khin phc tp hn viphisdngcaccmbinquantinhnhgyro(gyroscope)vagiatc(accelero-meter) d tinh toan dc goc nghing va vn tc quay theo ba trc d gi thng bng, nu khng s khng th nao diu khin dc. Tuy theo h thng mch diu khin tt ti mc nao s quyt dnh ti kh nng diu khin Quadrocopter d hay kho.Nhngkhiddcthitktt,mtngichatngdiukhinqualnnao cngcothdiukhindcQuadrocoptermtcachddang.Theonhnguynl 4 hot dng d d cp ti trn thi diu khin Quadrocopter thc cht ch la diu khin tc d ca 4 motor d co dc chuyn dng mong mun. iviHelicopter,vicdiukhinbaogmrtnhiuyut:diukhincac servo d thay di goctn ca canh qut chinh, thaydi tc d canh qut chinh, thay ditcdhocgoctncacanhqutduidblai,thaydimtphngquayca canh qut chinh v.v... Loi nay rt kho diu khin, cn phi co nhiu k nng va kinh nghim. co th diu khin dc m hinh loi nay, ngi diu khin phi mt mt thi gian kha lu d lam quen, va thng thi phi tp lai trn cac phn mm m phng trc mi d t tin cm lai. Nu khng, rt may bay la mt diu rt d xy ra. 1.2Tnh hnh nghin cu thuc lnh vc d ti 1.2.1/FKVSKiWWULQFDPi\ED\Quadrocopter Co th phn loi vt th bay ra thanh cac loi nh sau: Hnh 1.6Phn loi vt th bay Chic Quadrocopter du tin trn th gii ra di nm 1907 do anh em nha khoa hcngiPhapLouisvaJacquesBreguetcunggiaosCharlesRichethptacch to. No dc mang tn la 'BreguetRichet Gyroplane No.1. Yu cu dc da ra la no co th ct canh khi mt dt vi 1 phi cng. Mt dng c 8 xy-lanh dc s dng d quay 4 canh qut. Mi canh qut co 4 bn canh. H thng dy dai va pu-li dc gn ln nhm truyn dng t dng c cho cac canh. B khung ca chic Quadrocopter nay lamtcacngthp.Tngtrnglngcanovaokhong575Kg.Lnbayth nghimdutindinratiDouai-Phapvaonm1907,nodcothnngcaokhi mt dt 1.5m. Quadro-copter 5 Hnh 1.7Breguet- Richet Gyroplane No.1 nnm1920,EtienneOemichen,dchtomtchicQuadrocoptervi8 canh qut linh hot nhm diu khin va to lc dy. Ban du, no dc gn thm mt khi cu d nng va gi n dnh cho c may nay. Nm 1922, Oemichen d thanh cng khichochicQuadrocopterbaymakhngcnstrgiupcakhicu.Saudo,no khng bao gi dc s dng na. Hnh 1.8Quadrocopter ca Etienne Oemichen 6 Cng trong nm 1922, tin s George de Bothezat va Ivan Jerome d thanh cng khithitkchicQuadrocopterkhnglphcvchoqundiM.Cmaynayd dc diu khin bng cach thay di dn l hoc cung luc cac goc xon ca canh qut. Ngoairanocondcgnthm4canhqutloinhdtrgiupdiukhin.Chic Quadrocopter nay dc dt tn la Bch tuc bay. Nhng d an nay b hy b ngay lp tc vi kh nng bay thp, gia thanh cao. Hnh 1.9~Bch tuc bay nnm1956,Convertawingslnnalamsnglithitktrcthng4canh qut d dc th nghim nm 1922 bi Oemichen ti Phap va G. de Bothezat ti M. Bn canh qutca chic trc thngnay dc gn kt theotng cp trn 2thanhni songsong.Cchkimsoatvcungdnginbngcachthaydilcdygiacac canh qut. Nng lng dc cung cp bi hai dng c, truyn dng ti h thng canh qut bng dy dai ch V. May bay co ba banh dap vi hai banh sau va mt banh trc cothxoaydc.Chuynbaydcthchinthanhcngvaothang3nm1956ti M. Tuy nhin, d an nay d sm b chm dt do khng nhn dc dn dt hang. Hnh 1.10Convertawings Model A T do, cac cu hinh ca may bay Quadrocopter khng con dc chu nh trc. Michodnnhngnmgndy,Quadrocoptermidcquantmtrlivikh nng ng dng rt ln trong lnh vc thit b bay m hinh. [14] 7 1.2.27uQKKuQKQJKLrQFXQFQJRjL Vi tinh cht dn gin trong kt cu c khi va tinh linh dng trong vic diu khin cngnhtimnngngdngrtlnvaothctcamhinhloinayma Quadrocopterdvadangdcnhiuhngtrnthgiinghincuphattrintr thanh sn phm thng mi. Sau dy xin dc gii thiu mt vai sn phm din hinh: a.Sn phm X-Pro ca Draganfly Innovations [1] Hnh 1.11Sn phm X-Pro ca hng Draganfly Innovations Cac thng s k thut: - Co th nng dc ti da 1360g. - c diu khin bng b v tuyn 9 knh FM (PCM). - Khung bng carbon. - Vn hanh bng pin 6000mAh 14.8V. - Mang camera d quan sat, chp khng nh. - Thi gian bay 20 phut. - Gia $50008000. Tuynhinvicdiukhinloimaybaynayphthucnhiuvaoknngca ngi diu khin va cn thi giand lam quen vi khng co h thng t cnbng va cac cm bin cn thit khac. b.Sn phm MD4-200 ca hng Microarone [1] y la mt sn phm cc k chuyn nghip va no co tn gi la VTOL AUMAV (VerticalTakeOffandLandingAutonomousUnmannedMicroAerialVehicle)hay maybaysiunhtdngctcanhvahcanhthngdng.Loinaycohthng AAHRS ( Altitude and Attitude and Heading ReIerence System) hay con gi h thngthamchiudcao,gocnghingvahng,dctrangbcacloicmbingiatc, gyro, cm bin t trng va nhit d, cm bin ap sut, cm bin d m. Ngoai ra con co kh nng bay theo l trinh cai dt sn nh trang b thit b dnh v toan cu GPS. MD4-200 dc trang b camera d thc hin chp khng nh, quan sat, theo di haytrinhthamtrnkhng.Cacphtungkhackemtheobaogmhpdngbthu 8 phat tin hiu video va d liu, may tinh d hin th cac thng s v tinh trng ca may bay cng nh cac tin hiu cm bin, cac goc nghing , d liu GPS. Khung MD4-200 tt c du lam bng carbon vi th rt nh va chu va dp rt tt, ngoai ra do lam bng carbon nn khung ca MD4-200 hot dng nh mt v bcco kh nng chng cac loi nhiu din t. Bng cach s dng motor co s vong quay ti da 2000 vong/phut nn d n rt thp ( 63dBA 3m) rt thich hp cho mc dich trinh tham hay quan sat trn khng ma khng b phat hin. c tinh an toan ca MD4-200 nh kh nng tranh b rt va t dng h canh an toan khi pin gn ht hay la mt tin hiu v tuyn diu khin. NgundinlapinLipo14.8V2300mAh.Tuythucvaotimangtheo(tida 200g), gio, nhit d ma thi gian bay ca MD4-200 co th ln ti 20 phut. Gia $5000. Hnh 1.12Sn phm MD4-200 ca hng Microdrone Hnh 1.13My tnh d hin th cc thng s v tnh trng ca my bay c.Sn phm ca AR.Drone ca hng Parrot y la sn phm phc v mc dich gii tri chy trn ng dng ca iPhone. AR.Drone s dng pin Li-ion, nu dc sc dy thi no co th bay trong vong 15 phut.Phnthncanortnh,dclamtsicarbonvaxpdgimtrnglng (AR.Drone ch nng 400gram).Chic may bay m hinh nay co 2 camera (mt dt phia trc va mt bn di)kt ni trc tip vi din thoi iPhone qua song wiIi. Nhng hinh nh t camera trn may bay sau do s hin th trn man hinh iPhone giup ngi dung diu khin d dang va an toan hn.9 Ngoaira,AR.Dronedungngdngthngtinkhnggianthc(Augmented Reality) nh vy ngi diu khinmi co th nghing iPhone d diu hng cho no ma khng phi dung nut bm.AR.Drone co gia ban $299 ti M. Hnh 1.14Sn phm AR.Drone ca hng Parrot d.Sn phm ca hng MikroKopter [13] Hnh 1.15Sn phm MK Basicset ME ca hng MikroKopter Nhngmaybaynhiudngc(multi-rotor)cahngMikroKoptercodcng vng va d n dnh thuc vao bc nht nh s dng b cn bng din t chun giao tip tc d cao I2C.S dng dng c Roxxy va dng c MK cng ngh dc quyn ca MikroKopter vn hanh m, mt, it gy nhiu ln cac cm bin, nng cao d n dnh, dng thi tiu tn it din nng, ko dai hn thi gian thc hin chuyn bay. Ngoai Quadrocopter, nhng dong sn phm Hexacopter, Oktocopter (may bay 6 va8dngc)cahngcokhnngmangtirtln,lndn10Kg,thichhpcho vic vn chuyn cac camera chuyn dng thc hin quay khng nh cht lng cao.Nhng sn phm nay co gia t 700t dn 1800t tuy vao cu hinh. 10 1.2.37uQKKuQKQJKLrQFXtrong QF a.M hinh Quadrocopter ao nhom ca k s L Cng Danh thc hin Ngay 01/12/2009, cng trinh 'Nghin cu, thit k va ch to m hinh may bay ln thng bn chong chong co kh nng t cn bng va di chuyn trong nha do k s L Cng Danh, ging vin Khoa C khi trng H Giao thng vn ti TP.HCM lam ch nhim, k s Phm Ngc Huy la ngi nghin cu chinh, d dc nghim thu ti S Khoa hc - Cng ngh TP.HCM. Hnh 1.16M hnh my bay nghim thu ti S Khoa hc - Cng ngh bo dm d nh ca m hinh, nhom nghin cu d s dng vt liu la nhm va si carbon d ch to khung may bay. So vi cac may bay m hinh dang ban trn th trng, sn phm nay co mch din diu khin phc tp hn, giup ngi s dng d dang diu khin hn, ngi cha s dng bao gi cng co th diu khin dc. Theo PGS-TS L Hoai Quc, Pho Giam dc S Khoa hc - Cng ngh TP.HCM, dy la mt d tai kho va vi nhng gi dt dc, tac gi d hoan thanh mc tiu d ra. Hin nay, kt qu nghin cu d dc chuyn v cho dn v ch tri la Trung tm Thit k ch to thit b mi Neptech d tip tc hoan thin thm. D kin khi da vao sn xut, gia ban mi m hinh s la $600. b.Ch to Quadrocopter ti cac cau lc b m hinh [12]

Trong nm 2010, t thanh cng ca ks PhmNgc Huy trn,vic ch to Quadrocopterdtrthanhtraolulntrongcacnhomchimaybaymhinh.Kt qulanhiumaybayQuadrocopterdbaylnthanhcngtnhngngidamm m hinh. Tuynhin,dohthngcmbinchdunggyroscopedochuyndngtheo3 trc, khng co cm bin gia tc do goc nghing nn xy ra hin tng 'tri, kh nng 11 bay ca m hinh tt hay khng vn ph thuc kha nhiu vao kinh nghim ca ngi diu khin. Hnh 1.17Mt chic my bay 4 dng c ca cu lc b m hnh c. Nghin cu ch to Quadrocopter ti cac trng i hc Cng ging nh d tai 'ch to xe t cn bng nhng nm trc, trong nm 2010 va qua, d tai 'nghin cu ch to m hinh may bay ln thngQuadrocopter d tr thanh d tai nong, thu hut nhiu s quan tm ca sinh vin bi tinh mi m va dythuvcano.Nhiusinhvinnm3-4,sinhvinspratrngdchn Quadrocopter lam d tai nghin cu, tha mn nhu cu hc tp ca minh. Tuy nhin, kt qu ca nhng d an nay vn cha dc m mn. Do nhng kho khn va hn ch nh thi gian tip xuc, nghin cu, tim hiu ngn, thiu kinh nghim trong lnh vc thit b bay, nn vn con nhng tn ti sinh vin cha khc phc dc. Hin ti vn cha co d tai nao cho m hinh bay ln thanh cng. Hnh 1.18Quadrotor v nhm sinh vin C din t H Cng nghip H Ni Nhom sinh vin nganh C din t i hc Cng nghip Ha Ni dkhng khc phcdcvndnhiucacmbingiatc,chdungtinhiugyroscopeddiu khin nn m hinh vn cha th bay cn bng.12 Hnh 1.19Robot t hnh kiu Quadrotor ca Hc vin K thut Qun s RobotmaybaycaHcvinKthutQunscokhilngkhanng(gn 2Kg), khng dung bt k cm bin do quan tinh nao, ch dung tin hiu diu khin dn thunttaydiukhinvtuyn.TitrinlmRoboconTechshow2010,robotd khng ct canh thanh cng. Nu xt cp d cao hn, lun vn thc s hay cng ty nghin cu theo dn dt hang, thi hin ti tinh hinh nghin cu trong nc d dt dc nhng kt qu rt kh quan. Nhiu m hinh d dap ng tt v tinh cn bng va d n dnh. Trong do, ngoai cac cm bin quan tinh (gyro va gia tc), s dng thm cm bin hng ngoi nhn bit dng chn tri, cm bin siu m nhn bit d cao, dung tin hiu GPS cho mc dich t hanh v.v. 1.3Ni dung nghin cu ca d ti Quadrocopter la mt d tai kho, doi hi kin thc tng hp nhiu lnh vc nh: c khi thit k, thit b bay, khi dng hc, dng lc hc, x l tin hiu s, mch din t, vi diu khin, giao tip may tinh, truyn thng v tuyn, m hinh hoa, m phng, lptrinhdiukhin,lptrinhgiaodinv.v.Dodo,doihimithanhvintrong nhom phi n lc ht minh d co th hoan thanh dc d tai. Cac vn d chinh ca d tai: - Tim hiu nguyn ldiu khin, nghin cu dng hc, dng lc hc, khi dng hc va m hinh toan ca thit b bay dng Quadrocopter. - Tinh toan, thit k va ch to m hinh c khi. - Thit k h thng diu khin. - Xy dng thut toan diu khin. 13 Do diu kin hn ch v kinh phi, thi gian thc hin ngn va kh nng kin thc trong lnh vc con hn hp nn d tai dc gii hn trong cac diu kin nh sau: - Nghin cu ch to m hinh Quadrocopter loi cng sut nh s dng dng c khng chi than va b diu tc ESC giao thc PWM. - X l tin hiu cac cm bin quan tinh (gyroscope va accelerometer) d da vao diukhinQuadrocoptertcnbng,chacnquantmdndiukhinhngbay ca m hinh. 1.4Phng php v phng tin nghin cu V phng phap nghin cu: - Tim hiu cac tai liu va thit k hin co trong va ngoai nc. - Tinh toan thit k m hinh hoa va m phng d danh gia cht lng h thng va loi tr cac li thit k. - Tin hanh thc nghim, do dc, v d th, phn tich va hiu chnh cn bng. V phng tin nghin cu:-ThitkmhinhvatinhtoandbnbngphnmmSolidworks,lptrinh gia cng CNC cho phn khung Quadrocopter. -Cac trang thit b bay t h tr ca giao vin hng dn. -S dng thit b din t do lng lc dy ca dng ccanh qut. -Giam sat t may tinh dung phn mm Visual C, LabVIEW. 14 CHNG 2: L THUYT TIP CN 2.1L thuyt diu khin Quadrocopter [2] Hnh 2.1nh ngha cc hng chuyn dng ca Quadrocopter Cp canh qut phia trc (front) va phia sau (back) quay ngc chiu kim dng h, trong khi do cp canh bn phi (right) va bn trai(left)li quay thun chiu kim dng h nhm cn bng moment xon dc to ra bi cac canh qut trn khung. C 4 canhphisinhramtlcdybngnhaukhiQuadrocopterctcanhvahcanh (throttleup/down).Gocxoay(roll)dcdiukhinbngcachthayditcdgia canhbnphivabntraisaochovnginguyntnglcdysinhrabicpcanh nay. Tng t nh vy, goc nghing (pitch) dc diu khin bng thay di tc d ca 2 canh phia trc va phia sau ma vn gi nguyn tng lc dy. Trong khi do, goc lch (yaw) dc diu khin nh vao s thay di tc d ca cp canh phitrai so vi tc d ca cp canh trcsau ma tng lc dy 4 canh vn khng di dQuadrocopter gi dc d cao. Nhvy,vicdiukhinbaycaQuadrocopterlavicdiukhintcdquay ca cac canh qut. So sanh vi may bay trc thng, vic di chuyn ph thuc vao goc lch gia mt phng canh, mt phng quay so vi trc quay ca canh, phi co mt c cu c khi d thay di goc lch nay. C cuc khi nay co kt cu kha phc tp, dn dn cac sai s c khi trong qua trinh diu khin. Vic diu khin tc d cac cp motor caQuadrocopterthidnginvachinhxachn.ylamtudimlnca Quadrocopter. Sau dy s m t c th hn cac chuyn dng bay c bn ca Quadrocopter: 15 QuichtrctadgnvaothnQuadrocoptercocactrcdcbtrinh hinh 2.2, gc ta d dt ti tm Quadrocopter. a.Hover: Quadrocopter bay l lng trong khng trung. trng thai nay, tt c cac canh qut quay cung mt tc d khng di (O1 = O2 = O3 = O4 = OH). Hnh 2.2Hover b.Throttle: Quadrocopter s bay ln hoc h xung theo phng thng dng. bay ln, tc d ca 4 canh qut tng ln, h xung thi c 4 canh cung gim tc, khi do s to ra mt hp lc dc trc dng lam Quadrocopter bay ln hoc bay xung. Hnh 2.3Throttle Trong do: + Z la gia tc theo phng Zb. OH la vn tc goc ca canh qut. AA la lng tng hoc gim ca OH d Quadrocopter bay ln hay xung. Cn chu la AA khng dc qua ln vi s nh hng mnh dn d n dnh, cn bng ca Quadrocopter. c.Roll: Quadrocopter bay sang phi hoc sang trai. bay sang phi (hoc sang trai) ta gi nguyn tc d ca 2 canh qut trc va sau, tng (hoc gim) tc d ca canhqutbntraivagim(hoctng)tcdcanhqutbnphi.Tdotora momentxonquanhtrcXblamchotnglcnngca4canhqutkhngconnm theo phng thng dng ma tn ti thanh phn lc hng theo phng chuyn dng.

16 Hnh 2.4Roll Trong do: + : gia tc goc xoay quanh trc Xb. OH la vn tc goc ca canh qut. AA, AB (AA-AB) d tng hay gim ca vn tc goc OH. d.Pitch: Quadrocopter bay ti trc hoc bay lui v sau. Tng t nh Roll, 2 canhquttraivaphiginguyntcdbngnhau.bayti(hocbaylui)diu khin tng (hoc gim) tc d ca canh qut sau va gim (hoc tng) tc d canh qut trc, to ta moment xon quanh trc Yb. Hnh 2.5Pitch Trong do : + : gia tc goc xoay quanh trc Yb. OH la vn tc goc ca canh qut. AA, AB (AA-AB) d tng hay gim ca vn tc goc OH. e.Yaw: Quadrocopter quay quanh trc Zb. iu khin tc d cac canh qut theo cach sau: tc d 2 canh di din thi bng nhau, nhng khac vi tc d 2 canh di din con li. Quadrocopter quay quanh trc Zb theo chiu ngc kim dng h, ta gim tc d cp canh qut co chiu quay ngc kim dng h (chiu mun quay) va tng tc dcpcanhqutquaythunchiukimdngh.quayquanhtrcZbtheochiu thun kim dng h, ta lam ngc li cach trn. 17 Hnh 2.6Yaw Trong do: + gia tc goc xoay quanh trc Zb. OH la vn tc goc ca canh qut. AA, AB (AA-AB) d tng hay gim ca vn tc goc OH. 2.2M hnh ton ca Quadrocopter [2] 2.2.1QJKF nghclamtnganhcachcmtcacchuyndngcaditngma khng cn xem xt cac nguyn nhn gy ra chuyn dng (lc va moment). m t cac chuyn dng ca mt khung cng 6 bc t do cn 2 h quy chiu: Hnh 2.7H quy chiu E v B - h quy chiu E: la h quy chiu quan tinh Trai dt, dung d xac dnh vector v tri dai E [m] va vector v tri goc E [rad] ca Quadrocopter. -hquychiuB:lahquychiugnvikhungQuadrocopter,dungdxac dnh4vector:vntcdaiV B[m/s],vntcgocB[rad/s], lcFB[N],va moment xon B [Nm] ca Quadrocopter. 18 Trong do: OE: gc ta d ca h trc quan tinh Trai dt. xE: trc hng v phia Bc. yE: trc hng v phia Ty. zE: trc vung goc vi mt phng (xE,yE) va hng ln. OB: gc ta d ca h trc gn vi khung Quadrocopter. xB: trc hng v trc ca Quadrocopter. yB: trc hng qua trai ca Quadrocopter. zB: trc vung goc vi mt phng khung m hinh va hng ln. Hai vector ac anh ngha trong h trc E. - Vector v tri dai E [m] dc xac dnh t OE dn OB : E =[X Y Z] T (2.1) - Vector v tri goc E [rad] biu din goc xoay ca h trc B di vi h trc tham chiu E bng 3 goc Euler roll, pitch, yaw: E | | T (2.2) => Vector v tri tng quat bao gm vector v tri E va vector goc E : = [EE] T=[X Y Z ] T (2.3) Bn vector ac anh ngha trong h trc B. - Vector vn tc dai V B [m/s]:V B= [u v w ] T (2.4) - Vector vn tc goc B [rad/s]: B = [p q r] T (2.5) => Vector vn tc tng quat : = [V BB] T = [u v w p q r] T (2.6) -VectorlcFB|N|vavectormomentxonB|Nm|sdctimtrongphn ng lc hc thng qua dnh lut 2 Newton. xac dnh mi lin h gia cac vector nhm m t chuyn dng ca di tng cn dnh ngha 2ma trn:ma trn quayR, ma trn chuyn vT va ma trn tng quat J. - Ma trn quay R co dc bng cach nhn 3 ma trn quay c bn quanh 3 trc: R = R(, z) R(, y) R(, x) = c cs cc s s s sc s c

s cc c s s sc ss s cs c s c c(2.7) Trong 2 phng trinh trn va nhng phng trinh sau dy, cac k hiu nay dc s dng vi ngha: ck= cos k,sk= sin k,tk = tank. Theo do: -Xoay quanh trc zE mt goc (yaw): R(, z)= cs sc (2.8) 19 -Xoay quanh trc y1 mt goc (pitch): R(, y)= cs

s c (2.9) -Xoay quanh trc x2 mt goc (roll): R(, x)= cssc(2.10) - Ma trn chuyn v T : T = s t

c t c s c

c c(2.11) - Ma trn tng quat J : J = RxxT (2.12) K hiu 03x3 th hin mt ma trn kich thc 3x3 co tt c thng s bng 0. Phng trinh lin h gia cac vector trong h trc E va h trc B. - Phng trinh lin hgia 2 vector v tri trong h trc Evavector vn tc trong h trc B thng qua ma trn tng quat J : = J . (2.13) - Phng trinh mi quan h gia vn tc trong khung tham chiu B vi E:V E= ` E = R .V B(2.14) -PhngtrinhmiquanhgiavntcgoctrongkhungthamchiuBviE thng qua ma trn chuyn v T:` E =T .B (2.15) 20 2.2.2QJOFKF nglchclamtnganhcachcnghincunhngtacdngcalcva moment trn mt vt hay h vt dang chuyn dng. Phn nay nhim v chinh la tim phng trinh ca lc va moment gy ra chuyn dng ca Quadrocopter. Hnh 2.8Cc lc v moment tc dng ln Quadrocopter Theodnhlut2Newton,tacophngtrinhchuyndngcavtthchuyn dng tnh tin: m.``E= FE => m. = R.FB =>m(R vB R vB) = R.FB => m R(vB B x vB) = R.FB => m(vB B x vB) = FB (2.16) Trong do: m [kg]khi lng ca Quadrocopter. FE [N]vector lc trong h trc E. ``E [m/s2]vector gia tc dai trong h trc E. vB [m/s2]vector gia tc dai xt theo h trc B. R[-] do ham ma trn xoay. Cac thanh phn chuyn dng xoay ca vt th tun theo dnh lut 2 Newton: I. =E => I. =T.B => I. B + x (I. B)= T.B (2.17) Trong do: I [Nms2] ma trn quan tinh trong h trc B. [rad/s2] vector gia tc goc trong h trc E. B[rad/s2] vector gia tc goc trong h trc B. 21 Kthphaiphngtrinh(2.16)va(2.17),tadcphngtrinhnglchc tng quat cho tt c cac khung cng 6 bc t do: m Ix xxIx vB B + B m vBB I B = FBB(2.18) Trong do: I33la ma trn dn v kich thc 3x3. FB va B (lc tac dng va moment xon) dc trng cho nguyn nhn gy ra chuyn dng ca Quadrocopter. 2.2.30{KuQKNewton-Euler Cac phng trinh chuyn dng dc thit lp s co nhiu thun li hn khi xy dng trong h trc B vi nhng l do sau dy: Cac ma trn quan tinh la bt bin theo thi gian. Cu truc khung di xng dc dung d dn gin hoa cac phng trinh. Cac php do thc hin trn board diu khin d dang dc chuyn di sang h trc gn vi khung. Cac lc diu khin gn nh lun dc da ra trong h trc gn vi khung. Phng trinh (2.13)m t dng hc ca khung cng 6 bc t do: ` = J(2.13) Trong do ` la vector vn tc tng quat xt theo h trc E. la vector vn tc tng quat xt theo h trc B. J la ma trn tng quat. baogmvectorvtridaiE|m|vavectorvtrigocE|rad|ca Quadrocopter xt theo h trc E:= [EE] T=[X Y Z ] T (2.3) bao gm vector vn tc dai V B [m/s| va vector vn tc goc B [rad/s| ca Quadrocopter xt theo h trc B: = [V BB] T = [u v w p q r] T(2.6)Ngoai ra, ta co ma trn tng quat J xac dnh nh sau: J = RxxT (2.12) MatrnquayRvamatrnchuynvTdcxacdnhtheophngtrinh:R = c cs cc s s s sc s c

s cc c s s sc ss s cs c s c c (2.7) T = s t

c t c s c

c c (2.11) 22 ng lc hc ca khung cng 6 bc t do dc m t bng phng trinh (2.18): m Ix xxIx vB B + B m vBB I B = FBB(2.18) Hai gi dnh d dc thc hin trong cach tip cn nay: MtlagccahtrcgnvikhungOB trungvitrngtmkhilngca khung. Nu khng, mt dim trng tm khac phi dc da vao tinh toan va no s lam phc tp dang k cac phng trinh ca khung. HailaquydnhrngcactrccahBtrungvitrcquantinhchinhca khung. Trong trng hp nay, ma trn quan tinh I la ma trn cho va mt ln na, cac phng trinh ca khung Quadrocopter tr nn d dang hn. Vector lc tng quat dc xac dnh theo phng trinh (2.19): = [FB

B] T=[Fx Fy Fz x yz] T (2.19) Ta co th vit li phng trinh (2.18) di dng ma trn: MB `+ CB ( ) = (2.20) Trong do ` la vector gia tc tng quat xt theo h trc B. MB la ma trn quan tinh h thng xt theo h trc B. CB ( )la ma trn Coriolis hng tm xt theo h trc B. Phng trinh (2.21) biu din ma trn quan tinh h thng: MB = m Ix xxIx = m m m

IXX

IYY

IZZ(2.21) D thy rng MB la ma trn cho va la hng s (theo cac gi dnh nu trn). Phng trinh (2.22) biu din ma trn Coriolis hng tm: CB ()=xm SvBx SI B=

mw mv

mw mu

mv mu

IZZ iIYY qIZZ i IXX pIYY qIXX p

(2.22) Trongdo,matrndixnglch S dcdnhnghaquavector3chiuktheo phng trinh (2.23): S (k) S T (k) = k kk kkk k = kkk(2.23) Phngtrinh(2.20)laphngtrinhchungvahoantoanphuhpchomiloi vtthcngtuntheogithuyt(haylavicdnginhoa)ddtratrc.Tuy nhin, no dc s dng trong phn nay d m hinh hoa may bay Quadrocopter, vi vy vectorcuichathngtincthvdnglchccaQuadrocopter.cothdc chia thanh 3 thanh phn theo tinh cht ca cac dong gop trn Quadrocopter. 23 Phn dong gop du tin la vector hp dn GB () dc cho t gia tc theo trng lcg|m/s2|.Thtdthyrngnochnhhngtheotuyntinhvakhngphila phng trinh goc, do no la mt lc, khng phi la moment xon. Phng trinh (2.24) cho thy s bin di d co dc GB (). GB () = BGFx = 1ROEGFx = TROmgx = mgsmgcsmgcc (2.24) Trong do, BGF |N| la vector lc hp dn xt theo h trc B, con EGF|N| xt theo h trc E. Va do R la ma trn trc giao, ma trn nghch do 1RO ca no bng chinh ma trn chuyn v TRO. Phn dong gop th hai dc da vao tinh toan hiu ng con quay hi chuyn gy bi chuyn dng quay ca canh qut. Bi vi co 2 canh qut quay cung chiu kim dng h va 2 canh qut con li quay ngc chiu kim dng h, co mt s mt cn bng tng th khi tng di s tc d cac canh qut khng bng 0. Ngoai ra, nu tc d roll hoc pitch khac 0, Quadrocopter s chu mt moment quay hi chuyn tinh theo cng thc (2.25): OB ( )O x41TPkJ=_B k= xTPJ qp TPJq qp p q qp p O(2.25) OB ()lamatrncanhquthichuynva TPJ latngmomentquantinhquay di vi trc canh qut (la mt hng s co gia tr bng 104x10-6 Nms2) D dang nhn thy rng hiu ng con quay hi chuyn gy bi s quay ca canh qut ch lin quan dn goc va khng phi la phng trinh tuyn tinh. Phngtrinh(2.26)xacdnhtcdquay[rad/s]catoanthcanhqutva vector tc d canh qut O[rad/s] s dng trong phng trinh (2.25): = 1 + 2 3 + 4 O = (2.26) Trong do:1la tc d canh qut trc. 2la tc d canh qut phi.3la tc d canh qut sau.4la tc d canh qut trai. Phn dong gop th ba dc da vao tinh toan lc va moment xon dc trc tip gy ra bi chuyn dng chinh ca cac yu t du vao. Xt theo khi dng hc, c lc va 24 momentxondutlthunvibinhphngtcdcanhqut.Vivymatrn chuyn dngEB dc nhn vi O2 d co vector chuyn dng UB. Cac dong gop khi dng hc nh lc dy b[Ns2] va lc ko d[Nms2 ]s dc tinh toan chi tit phn sau. Phng trinh (2.27) cho thy tac dng ca vector chuyn dng ln dng lc hc ca Quadrocopter: UB (O) EB O2= 0000 = b b b u (2.27) Trong do, |m| la khong cach t tm Quadrocopter dn tm ca mt canh qut. 0, 0, 0 va 0 la cac thanh phn ca vector chuyn dng d nu. Mi quan h ca chungvitcdcacaccanhqutxutphatttinhtoankhidnghc.Biuthc momentxongyrabi0 ddcdnginhoabngcachbquathanhphnO`.cano.Vivyttcsdichuynducobiuthctngtnhauvaddangkim soat hn. Nh d nu trn, ta co th xac dnh ma trn hng EB qua phng trinh (2.28): EB = b b bbb b b uub u u (2.28) Tphngtrinh(2.20)tacothmtdnglchcQuadrocopterxtqua3 dong gop trn theo phng trinh (2.29): MB `+ CB ( ) = GB ()+ OB ( )O + EB O2 (2.29) Sp xp li phng trinh (2.29), ta dc do ham vector vn tc tng quat `xt theo h trc B:`= MB1 (CB ( ) + GB ()+ OB ( )O + EB O2)(2.30) Trinh bay li cac biu thc di dng h phng trinh: u vi wq gs v wp ui gcs

w uq vp gcsp YYZZXXqi TPJXXq XX q ZZXXYYpi TPJYYp YY i XXYYZZpq ZZ (2.31) 25 Trong do, tc d du vao ca cac canh qut dc cho thng qua h phng trinh: 0 b 0 b 0 b 0 u

(2.32) Moment quan tinh IXX, IYY , IZZ dc xac dnh theo cng thc: Idch chuyn = Itm + MD2 vi M [Kg] la khi lng ca vt th. D [m] la d dch chuyn ca vt th so vi trc quan tinh. =>IXX = M (W2/12 + H2/12) + M (DY2 + DZ2) IYY = M (L2/12 + H2/12) + M (DX2 + DZ2) IZZ = M (W2/12 + L2/12) + M (DX2 + DY2) Hnh 2.9Moment qun tnh khi hnh hp ch nht HthngdnghccaQuadrocopterhphngtrinh(2.31)dcvittrong h trc B ca khung. Nh d d cp, tham chiu nay dc s dng rng ri trong m hinh khung cng 6 bc t do. Tuy nhin, trong trng hp nay, s hu ich trong m t dng lc hc nu dung h kt hp gia phng trinh tuyn tinh xt theo h trc E va phngtrinhgocxttheohtrcB.Vivycacphngtrinhsaudysdcbiu din trong h trc mi, tm gi la h trc 'lai H (hybrid). Tham chiu mi nay dc chn vi no d trong m t dng lc hc kt hp vi diu khin (nht la trong phng thng dng ca h trc trai dt E). Phng trinh (2.33) biu din vector vn tc tng quat xt trong h trc H : = [` EB] T=[X Y Z p q i] T (2.33) H thng dng lc hc xt theo htrc H dc vit lidi dngmatrn theo phng trinh (2.34): MH` + CH () = GH + OH () O + EH () O2 (2.34) Trong do ` la vector gia tc tng quat xt theo h trc H.Ma trn quan tinh h thng xt theo h trc H MH bng vi ma trn do xt trong h trc B, dc xac dnh theo phng trinh (2.21) va (2.35): 26 MH = MB = m Ix xxIx = m m m

IXX

IYY

IZZ(2.35) Trai li,ma trnCoriolis hng tm xttrong h HCH ()khngbng vima trn Coriolis y xt trong h trc B, no dc xac dnh theo phng trinh (2.36): CH () = x xx SI B =

IZZ iIYY qIZZ i IXX pIYY qIXX p (2.36) VectorhpdnxttheohtrcHGHdcdnhnghatrongphngtrinh (2.37).Coththylanonhhngdnc3phngtrinhtuyntinh,thayvich phng trinh th 3 nh trong trng hp trc.GH = EGFx = mg(2.37) Cach hiu ng con quay hi chuyn gy bi canh qut la khng di, bi vi no ch nh hng dn phng trinh goc quy vao h trc B. Ma trn canh qut hi chuyn xt theo h trc H dc xac dnh theo phng trinh (2.25) va (2.38). OH () O = OB ( )O xTPJ qp TPJq qp p q qp p O (2.38) Ma trn chuyn dng xt theo h trc H EH thi khac vi xt trong h trc B vi 0 nh hng dn c 3 phng trinh tuyn tinh qua ma trn quay R. Kt qu ca tich ma trn chuyn dng vi tc d cac canh qut dc ch phng trinh (2.39): EH () O2 = RxxIx EB O2 = s sc s c0c ss s c0c c0000(2.39) Sp xp li phng trinh (2.34)ta dc do ham vector vn tc tng quat ` xt theo h trc H:` = MH1(CH ()+ GH + OH ()O + EH ()O2)(2.40) 27 Biu din li cac biu thc di dng h phng trinh: X s sc s c Y c ss s c Z g cs p YYZZXXqi TPJXXq XX q ZZXXYYpi TPJYYp YY i XXYYZZpq ZZ (2.41) y chinh la phng trinh Newton-Euler ca m hinh may bay Quadrocopter.Trong do, tc d du vao ca cac canh qut cng tng t nh trong h trc B, dc cho phng trinh (2.32). 2.2.4.KtQJKF Victinhtoankhidnghcmtcactacdngkhiquaycacanhquttrong khng khi. Hai thng s quan trng cn xac dnh la lc dy va h s ko. Vic tinh toan dc thc hin da vao phn tich 2 vn d: - thuyt dng lng (momemtum theory - MT) - thuyt c bn v canh qut (blade element theory - BET) a. Thuyt ang lng Canh qut dc hinh dung nh la mt da khi quay, luc quay no cung cp nng lng ln khng khi va nhn li lc phn hi.Gi thuyt: - Mt ng thng lng khng khi qua da qut dc xem nh khng co tng tac vi bn ngoai. - a qut nay co v s canh qut. - day ca da la v cung nh. - Vn tc theo phng dng ca khng khi qua da la lin tc. - Khng khi dy la khi l tng, khng b nn.Trong m hinh nay:TMT[N] la lc dy ca canh qut, hng ln. Vn tc ca khng khi dn canh qut gm: v- [m/s] vn tc cn trn. v1 [m/s] vn tc tac dng trc tip phia trn da.v2 [m/s] vn tc tac dng trc tip phia di da.v+ [m/s]vn tc cn di. 28 Cac ap sut ca khng khi tac dng ln canh qut: p- [Pa] ap sut cn trn.p1 [Pa] ap sut tac dng trc tip phia trn da.p2 [Pa] ap sut tac dng trc tip phia di da. p+ [Pa] ap sut cn di. Hnh 2.10M hnh cnh qut trong thuyt dng lng Lc dy cung cp bicanh qut dc to ratl vi hiu ca 2 ap lc trnva di da (p1 va p2). TMT = A(p1p2) TMT = mA (v- - v+) = A A v1 (v- - v+) Trong do:A [m2| la din tich ca da qut. mA |kg/s| la d thay di ca khi lng khng khi qua da.A [kg/m3| la mt d khng khi. Theo gi thuyt, vn tc khng khi phia trn da v1 bng vi vn tc bn di da v2. Co th vit phng trinh Bernoulli gia - vi phn 1 va gia phn 2 vi nh sau: p- + A v-2 = p1 + A v12 p2 + A v22 = p+ + A v+2 Sp xp li phng trinh trn va xem nh p+ = p- , ta dc: v1 = (v+ + v-)/2 Vn tc dong khi ngay ti da:vI= (v1 v-) = (v+ v-)/2 Suy ra, phng trinh ca lc dy: 29 TMT =2 A A v1 vI Trong trng hp v- = 0, suy ra v1 = vI Hn na, do lc dy TMT = Wp = (trng lng dc mang bi 1 canh qut): WP = 2A A vI2 vI = A [m/s] T s lu lng vao [-| la mt di lng dc s dng d lin h gia vn tc dong chy vi vn tc ti du canh qut. = vI / (eH RP). Trong do eH la vn tc goc ca canh qut khi hover, RP la ban kinh ca no. b. Thuyt c bn v canh qut Thuyt dng lng d cp trn d cung cp nhng thng tin quan trng v hot dng ca mt canh qut, tuy nhin di v chi tit thi vn con kha s sai.Do do lc khi dng hc va moment xon trn mt canh qut dc xac dnh bng cachsdngthuytcbnvcanhqutkthpvimtskhainimdnglng. Viphngphapnay,lcvamomentxondctinhtoanbngcachlytichphn ring l tng lc tac dng ln mt thanh phn nh trn toan b canh qut. Hinh 2.11 biu din mt ct ca canh qut. Hnh 2.11Thuyt c bn v cnh qut Trong do: ng 'HORIZON vung goc vi trc canh qut (trong diu kin hover). uI [rad] goc hp gia dng ngang vi dng chia canh qut. o |rad| goc hp bi dng chia canh qut vi vector vn tc dong khi cc b vT 30 vT [m/s] la vector tng ca 2 vector vH |m/s| (vn tc theo phng ngang) va vV |m/s| (vn tc theo phng dng).I |rad|la goc tn lu lng dong khi vao. dDBET |N/m| la vi phn ca lc ko dLBET|N/m| la vi phn ca lc nng.dFBET [N/m] la vector tng ca dDBET va dLBET, la vi phn ca lc khi dng hc. dFBET cng dc chia lam 2 thanh phn gm vi phn khi dng hc theo phng dng dTBET|N/m| va phng ngang dHBET[N/m].Vector vn tc vv la do s chuyn dng ca dong khi ca canh qut.Vector vn tc vH la do vn tc goc ca li canh qut. vv = vI = eP RP vH = eP r = eP RP (r/ RP) Trong do: eP la vn tc goc ca canh qut. Phng trinh vi phn ca lc nng va lc ko:dLBET = 0.5 A vH2 CL c dr. dLBET = 0.5 A vH2 CD c dr. Trong do: CL[-| h s nng, CD[-| h s ko, c |m| d dai trung binh ca dng chia canh qut.H s CL thay di tuyn tinh vi goc a [rad-1|. i vi cac canh mng va goc ti ca vector dong khi dn canh qut nh thi a bng 2 |rad-1]. CL = a o =a (uII) xon ca canh qut dc gi dnh la thaydi tuyn tinh trn toan vong tron canh qut. Vi vy m hinh gm hai hng s zero goc tn uIo |rad| va goc xon ca goc tn uItw. Ta co phng trinh sau: uI = uIo - uItw Hnna,vntcgoccacanhqutlnhnnhiusovitnglulngdong khi qua canh qut. i vi goc nh ta dnh ngha xp x goc dong khiI: I = Kt hp cac phng trinh trn, ta co: dLBET = A vH2a (uIo - uItw - ) c dr ViphnlctheophngdngdTBETcothdcdnginkhixpxbng khng vi goc tn I nh, khi do: dTBET = dLBET cos I - dDBET sin I - dLBET LcnngTBET|N|laktqucuicungdctimthybngcachlytichphn dTBET trn toan canh qut. Hng s NB [-] la s canh ca canh qut NB 2 (canh qut co 2 canh). 31 TBET = NB (dTBET / dr)dr = NB A a c eP2 RP3 (Io/6 -Itw/8 -/4). ViphnlctheophngngangdHBETcothdcdnginkhixpxbng khng vi goc I nh, khi do: dHBET = dDBET cos I + dLBET sin I - dDBET + dLBET Moment xon ca canh qut QBET |Nm| la kt qu cui cung dc tim thy bng cach ly tich phn dHBET trn toan canh qut: QBET [Nm] = NB ((dBBET / dr) + (dLBET / dr) ) r dr = NB A c eP2 RP4 (CD/8 +a (Io/6 -Itw/8 -/4) c.J hinh aang khi ang hc colcnngkhidnghcthithitdinvtth(canh)phikhngdixng qua trc chinh va dng bin ca mt trn phi ln hn ca mt di, nhng vt th co hinh dng thit din nh vy dc gi la co hinh dng khi dng hc. Hnh 2.12Hnh dng kh dng hc ca cnh Khikhngkhichybaoquanhhinhkhidngscolcnngkhidnghcva dng thi xut hin lc cn. Hinh khi dnghc nao cho hiu ng lc nng cang cao ma lc cn cang it thi dc coi la co hiu sut khi dng hc cang tt. chnh lch ap sut ph thuc vao hinh dng thit din canh tc la ph thuc vao hiu sut khi dng hc ca canh,goc tn (goc chy ca khng khi tng di vi vtkhidng)vavntcdongchy.Nhvykhivntcdongchydtdndln nao do thi chnh lch ap sut s d d thng trng lc va vt th co th bay ln dc. 32 2.3iu khin dng c mt chiu khng chi than [3] [4] Tronglnhvcmaybaymhinhthngsdngdngckhngchithan (brushless DC motor) d truyn dng cho canh qut. Ngoai ra, dng c nay cng dc ng dng rng ritrong nhiu lnh vc ca cuc sng nh trong cac damay tinh, may nghe nhc, cac b phn may moc trong cng nghip cn tc d quay cao, xe dp din, xe may din. Loi dng c nay co nhiu u dim: tc d cao, moment ln, d bn cao, khng b mon c gop va khng phong tia la din gy tn hao nng lng nh dng c mt chiu thng thng. ng c mt chiu khng chi than (gi tt la BLDC) co tn gi nh vy nhng thcchtnothucnhomdngcdngbnamchmvnhcuchkhngphila dng c mt chiu. ng c dng b nam chm vnh cu la nhom dng c xoay chiu dng b, rotor quaycung tc d vi t trng quay, co phn cm la nam chm vnh cu. Da vao cach sp dt phn quay rotor, dng c BLDC dc chia thanh 2 loi la inrunner va outrunner. Hnh 2.13ng c BLDC inrunner Hnh 2.14ng c BLDC outrunner 33 Vic diu khin tc d dng c BLDC da trn nguyn tc cp xung tun t cho caccundydtorattrngquay.thchincngvicnay,tadungmtb diu tc co tn gi ESC (Electronic Speed Controller), chc nng nh mt b bin tn bindidinapmtchiuthanhdinapxoaychiu3phacotnsthaydidc cung cp cho dng c. do chiu dng c, ta ch cn di v tri 2 trong 3 dy pha.TrongktcucadngcBLDC,namchmvnhcudcgnvaorotorto thanh cac pha sao cho no quay khi co t trng quay. Hnh 2.15S d du dy dng c BLDC v ESC Trongcacmhinhmaybay,ESCxacdnhtcddiukhindavaodrng xungcatinhiuPWMnhndc.DngtinhiuPWMnaydcquychuntheo dng c RC servo, tc la d rng xung trong khong 12 ms, va tn s diu khin la 50Hz. Hnh 2.16Tn hiu PWM diu khin da vo ESC 34 Hnh 2.17Nguyn l to dng 3 pha to ra t trng quay cung pha vi nam chm ca rotor, ESC phi lun bit dc v tri ca nam chm vnh cu va vn tc ca no. Co 2 cach d lam diu nay: - Cach th nht: S dng cm bin d nhn bit v tri ca rotor (cm bin hall). - Cach th hai: cm ng1 trong 3 pha ca xung din t trng phn hi (xung BEMFBack ElectroMagnetic Field pulses). C hai cach du co u nhc dim ring, tuy nhin hu ht cac h thng dng c mt chiu khng chi than s dng cho m hinh bay du dung phng phap cm ng xung BEMF. 35 Hnh 2.18S d chui xung Hnh 2.19S d mch din ESC dng phng php cm ng BEMF [13] Tathyrng,trongmtthidimbtkilunlunchco2phadndin.Khi rotorquay,cundycanamchmdinconlichacodinstngtacvit trngcanamchmvnhcuvaphatsinhnnglnggingnhmayphatdin. ESC nhn bit xung din phat sinh nay va xung din phn hi. iu khin vn tc ca dngcmtchiukhngchithanbngphngphapcmngdatrnphathin 36 thidimcamiphatrongkhongthigiangiaxungdinthphatsinhvaxung din phn hi. Mc dich la tim thi dim ma c cun dy ca nam chm din khng co din va t trng ca nam chm vnh cu cng cha lam cun dy phat din. o la dim nm trong khong xung gia xung din th phat sinh va xung din phn hi, luc nay ESC bit dc v tri ca mi nam chm vnh cu va s dng thng tin nay d cp dinchonamchmdindungluctonnmtttrngquaysaochocaccpca nam chm vnh cu va nam chm din di din hoc la dy nhau hoc la hut nhau d dng c quay.Nutacnnamchmrotorquaynhanhhn,tastnglcttrng.Bng cachtngdrngxung(PWM),ttrngsmnhhnvalammomentxontng, rotor quay nhanh hn. ESC tng tn s cp xung din cho nam chm din d dap ng dungthidimcungvistngtccarotor.DodoESCphitngdlncat trng trc ri tip theo tng tn s xung. 2.4B lc Kalman [5] [6] 2.4.1.KiLQLPEOF Trctin,lclamtquatrinhxlnhmlobnhnggikhngcogiatr hoc khng quan tm dn va gi li nhng gi co gia tr s dng. Trong x l tin hiu, b lc dc thit k d lc tin hiu sch (tin hiu cn tim) t trong tin hiu nhn dc bao gm tin hiu sch va nhiu tin hiu bn (khng cn thit) trn ln vi nhau. Vi d dn gin la ta co tin hiu S (signal) trn ln vi nhiu N (noise) trong mt tin hiu tng hp X. Va ta cn lc d loi b N ra khi X. X(k)=S(k)+N(k)NutabitrngnhiuNdaodngxungquanh0vacogiatrtrungbinhla0khi M d ln. 0) (1=_=Mk NMk Ta thy rng d loi b N, ta co th ly tng ca X M ln _ _= ==MkMkk S k X1 1) ( ) ( Nhin mt khia cnh nao do ta d loi b dc N. Tuy nhin, cng cn phi chu rng b lc co hoan ho ti du thi cng khng th loi ht toan b nhiu. Th nn, cac b lc cng ch lc ra dc tin hiu sch, theo nghakhngconnhiunhiu,nhngcngchlaclngcatinhiuthc,ch khng phi chinh xac tin hiu thc. 2.4.2%OF.DOPDQOjJu"TrctinKalmanlatncanginghrablcnay.Vaonm1960,R.E Kalman d cng b bai bao ni ting v mt gii phap truy hi d gii quyt bai toan lc thng tin ri rc tuyn tinh (discrete data linear Iiltering).Tn dy d ca bai bao la"ANewApproachtoLinearFilteringandPredictionProblems".Tdodnnay cung vi s phat trin ca k thut s, b lc Kalman d tr thanh ch d nghin cu 37 si ni va dc ng dng trong nhiu nganh k thut cng ngh khac nhau nh trong t dng hoa, trong dnh v cng nh trong vin thng (va nhiu lnh vc khac na).Mt cach khai quat, b lc Kalman la mt tp hp cac phng trinh toan hc m t mt phng phap tinh toan truy hi hiu qu cho php c doan trng thai ca mt qua trinh (process) sao cho trung binh phng sai ca d lch (gia gia tr thc va gia tr c doan) la nh nht. B lc Kalman rt hiu qu trong vic c doan cac trng thaitrongquakh,hintivatnglaithmchingayckhitinhchinhxaccah thng m phng khng dc khng dnh. Trong h thng ca Eagle, tin hiu vao b lc gm hai tin hiu: tin hiu t cm bin gia tc accelerometer va tin hiu t cm bin vn tc goc gyroscope. Hnh 2.20Cch thc x l tn hiu ca b lc Mt vi d m phng v b lc Kalman cho mt may bay chin du: Hnh 2.21Tn hiu thu dc cha dc lc ca my bay Tin hiu cha qua b lcTin hiu d qua b lc 38 2.4.3%QFKWFDEOF.DOPDQ Tn hiu doM hnhh thngB lc Kalman` x Hnh 2.22M hnh ha b lc Kalman Hinh 2.22 m hinh hoa hot dng ca mch lc Kalman. Chung ta co tin hiu do dc, chung ta comhinh ca tin hiu do dc (doi hi tuyn tinh) va sau do la ap dng vao trong h thng phng trinh ca mch lc d c lng trng thai quan tm. Thcratinhiudolakhngkho,phngtrinhdcosn,caichungtacnchinhlamhinhhoahthng.cothngdngmtcachhiuqumchlcKalmanthi chungtaphimhinhhoadcmtcachtuyntinhsthaydicatrngthaicn c lng (estimate) hoc c doan (predict). B lc Kalman dn gin la thut toan x li tin hiu hi quy ti u. Co nhiu cach xac dnh ti u, ph thuc vaotiu chun la chn thng s danh gia. iunay cho thy rng b lc Kalman ti u di vi cac chi tit c th trongbt ki tiu chun co nghanao.MtkhacblcKalmanhpnhtttccacthngtindccungcpti no. No x li tt c cac gia tr co sn ngoi tr d sai s, c lng gia tr hin thi ca nhng gia tr cn quan tm. 2.4.44X\WUuQKFOQJ BlcKalmandcpdnbaitoantngquatkhiclng trng thai camt quatrinhdcmhinhhoamtcachrirctheothigianbngmtphngtrinh ngu nhin tuyn tinh toan nh sau: 1 1 1* * wk k k kx A x B u = + +(1) Va kt qu do dc: k k kv x H z + = * (2) Ma trn A la ma trn chuyn di t trng thai k-1 sang trng thai k, hay ma trn di din cho phng trinh h thng. Nu vector trng thai x co kich thc la n, thi ma trn A s co kich thc la (n x n). Ma trn B (n x l) la ma trn ph thuc vao diu khin ti u u vi u la vector co kich thc la l . Vector do dc Z co kich thc la (m x 1) nn ma trn H s la (m x n), vi m la s bin trong vector trng thai s dc do dc.Tiptheowvavla2vectorbinngunhindidinchonhiuhthngva nhiudodc.2binngunhinnaydclpvadcgislatuntheophnb Gauss vi trung binh bng 0 va ma trn hip bin (covariance) ln lt la Q va R. 39 w~N(0,Q) v ~N(0,R) Chu rng cac ma trn Q, R, A, H co th thay di theo thi gian (tng bc k), nhng dy chung dc gi s la khng di. naaytathybaitoanlcKalmanchinhlaaitimgiatrclngvac aoancatrngthaixkhitabitacsbinthincanovataaoacmtai lng : ma ph thuc tuyn tinh vao x.Vidtrongbaitoanchuyndng,tabitdcquilutthaydicavntc, nhng ta li co th do dc s thay di ca v tri. Khi do, cai ta cn tim la vn tc c lng.Nu ta gi s va ln lt la tin nghim va tin nghim c lng ca gia tr x ti thi dim k. Gia tr tin nghim thu dc ch da vao m hinh h thng (1), con gia tr hu nghim la gia tr thu dc sau khi d co kt qu do dc (2). Khi do sai s ca c doan tin nghim va hu nghim ln lt la: =k k kx x e ` k k kx x e ` = Ma trn hip bin ca 2 sai s trn dc tinh ln lt theo cng thc: ( )Tk k ke e E P = ( )Tk k ke e E P = Mc dich chung ta by gi la di tim h s K sao cho tha mn phng trinh sau: ( ) + =k k k kx H z K x x ` * * ` `(3) Phngtrinh(3)conghalagiatrhunghimcaclngxsdctinh bng gia tr tin nghim ca no va sau do thm hoc bt di mt ti da vao sai s gia gia tr do dc va gia tr do dc c doankx H ` *. K dy chinh la d li (gain) ca b lc Kalman.Cu hi dt ra la lam th nao d chn K ti u nht. Ti u dy theo ngha la covariance ca sai s ca c lng hu nghim (tinh t (3)) ( ) =k k kx H z K e ` * *la nh nht. Bng cach thay ek vao trong biu thc tinh Pk, ri sau do ly do ham ca Pk theo K, ta s tim ra dc gia tr K ma tng ng vi no Pk la nh nht.1) ( + = R H HP H P KTkTk k KkthayditheothigiankvachinhladlicntimcamchlcKalman trong mi c doan. Tom li mch lc Kalman bao gm 2 bc:1- c doan trng thai tin nghim 2- Da vao kt qu do d hiu chnh li c doan. Ta co th tom tt li hot dng ca mch lc Kalman bng cac phng trinh sau: 40 Gi s ta d co gia tr c doan 1` kx ti thi dim (k-1) va bit dc gia tr diu khin1 ku (giatrbandutithidim0dcchn0 0` z H x - = ).Lucdotachvic ln lt tin hanh cac tinh toan t 1 dn 2 bc 'predict ri t 1 dn 3 trong bc 'correct nh trong hinh 2.23. Hnh 2.23Cc bc xy dng b lc Kalman 2.4.56RViQKFiFEOFYLEOF.DOPDQ ivicacblcthngthp,thngcaohocthngdithngdcsdng chomttinhiuvaovamttinhiuravitnslamvicxacdnh.Ngoaiditn nay, tin hiu s b lch pha, hoc d li khng con la hng s. Do do trong trng hp sdnghaicmbindocungmtgiatrlagoc(cngnhvntcgoc)thivics dng mt b lc th dng t ra khng phu hp. Hnh 2.24Gin d Bode v pha ca b lc bc nht 41 Tacothdungblcbphdktnihaitinhiutgyroscopeva accelerometerthanhmttinhiuduynht.Tinhiutaccelerometerdcdaqua mt b lc thng thp, con tin hiu t gyroscope qua mt b lc thng cao, t do hai tin hiu dc lc s ni vi nhau thanh mt tin hiu thng nht. u dim ca b lc b ph la tinh toan nhanh, d thit k. Nhc dim ca b lc nay la bn cht vn ca blcthngcaovablcthngthp,conghaladlitinhiukhngbngnhau trongtoandido,blchphativungnitns.Hnnatinhiugyroscopes khngdccpnhtthngxuyn,dlamchoblcmttacdngkhilamvic trong mi trng rung dng hay co nhit d khac nhau. Tom li cac b lc thng thng la mt k thut dung phn cng (cac mch din t R,L,C) hoc phn mm (lc FIR, IIR, ... trong x li tin hiu s) la nhm gi li cac tin hiu trong mt khong tn s nao do va loi b tin hiu cac di tn s con li. Trong cac b lc nay nu tn ti cac tin hiu nhiu trong di thng tn thi kt qu tin hiu tr nn km di rt nhiu d co th x li va diu khin h thngmt cach n dnh. iu nay cang t ra rt thc t di vi cac b lc phn cng, vn rt d b nhiu bi cac tin hiu din trong luc hot dng do s km chinh xac ca cac linh kin va s bt thng ca dong din ng vao. Hnh 2.25V d so snh cc tn hiu ng vo (mu xanh), kt qu ng ra b lc b ph (mu den), v b lc Kalman (mu d) i vi b lc Kalman, thut ng lc khng mang ngha nh cac b lc trn. y la mt gii thut tinh toan va c lng thng k ti u tt c cac thng tin ng vao dc cung cp ti no d co dc gia tr ng ra dang tin cy nht cho vic x li tip theo. Do vy b lc Kalman co th s dng d loi b cac tin hiu nhiu trn tt c cac di thng ma no nhn dc t ng vao, d lch pha gn nh khng tn ti va co d li xp x bng 0 di vi cac tin hiu ng vao khng dang tin cy.Mc du phi tn nhiu thi gian x li lnh, nhng vi tc d hin ti ca cac vi diu khin hin nay, vic tinh toan ti u ca b lc nay tr nn dn gin va dang tin cyhn rt nhiu. Nh co c cht cp nht cac gia tr timi thi dim tinhtoan, cng nh xac dnh sai lch ca kt qu do trc va kt qu do sau nn gia tr do lun dc n dnh, chinh xac, gn nh khng b sai s v d li va d lch pha ca cac tin hiu.Hn th na, do dc xy dng bi ham trng thai, do vy b lc Kalman co th kt hp khng ch hai tin hiu t hai cm bin, ma co th kt hp dc nhiu cm bin do nhng di tn khac nhau ca cung mt gia tr di lng vt li. Chinh vi diu nay, b lc Kalman tr nn thng dng hn tt c cac b lc khac trong vic x li tin hiu chinh xac ca cac cm bin ta d, cm bin la ban, GPS, gyroscope, ... 42 Vi nhng kh nng trn cng vi nhng yu cu ca d tai, b lc Kalman dc chn d x li cac tin hiu t hai cm bin da v d co dc tin hiu tt nht, n dnh, va dang tin cy nht cho vic diu khin hot dng ca h thng. 2.5Gim st - diu khin giao tip my tnh dng phn mm LabVIEW 2.5.17QJTXDQYLabVIEW LabVIEW(LaboratoryVirtualInstrumentationEngineeringWorkbench)lamt phnmmmaytinhdcphattrinbicngtyNationalInstruments,trsdtti M. LabVIEWco ngn ng lp trinh vikhai nimhoantoan khac so vi cac ngn ng lp trinh truyn thng nh ngn ng C, Pascal,... do la ngn ng lp trinh d ha hay con gi la lp trinh G (vit tt ca Graphical). LabVIEWdcdungnhiutrongcacphongthinghim,lnhvckhoahck thut nh t dng hoa, diu khin, din t, c din t, hang khng, hoa sinh, din t y sinh, v.v. dung d kim tra, do lng va diu khin. Cac chc nng chinh ca LabVIEW: - Thu thp tin hiu t cac thit b bn ngoai nh cm binnhit d, hinh nh t webcam, vn tc ca dng c,... -Giaotipvicacthitbngoivithngquanhiuchungiaotipthngqua cac cng giao tip: RS232, RS485, USB, PCI, Ethernet. Hnh 2.26Kh nng kt hp vi cc phn cng ca LabVIEW 43 - M phng va x l cac tin hiu thu nhn dc d phc v cac mc dich nghin cu hay mc dich ca h thng ma ngi lp trinh mong mun -Xydngcacgiaodinngidungmtcachnhanhchongvathmmhn nhiu so vi cac ngn ng khac nh Visual Basic, MatLab,... -ChophpthchincacthuttoandiukhinnhPID,Logicm(Fuzzy Logic), mt cach nhanh chong thng qua cac chc nng tich hp sn trong LabVIEW. - Cho php kt hp vi nhiu ngn ng lp trinh truyn thng nh C, C,... 2.5.27uPKLXPWFKQJWUuQK LabVIEW ChngtrinhLabVIEWdcluliviphnduilaVI(VirtualInstrument). Mt Iile *.VI co hai thanh phn chinh la Front Panel va Block Diagram. Hnh 2.27Front Panel v Block Diagram trong mt chng trnh LabVIEW Saudychungtascungtimhiutngthanhphnnaythngquamtcas lam vic LabVIEW dn gin: - Giao ain chinh(FrontPanel): la giao din ngi dung cangnng d ha LabVIEW,baogmcacnutdiukhin(controls)vathanhphnchth(indicators) dc hin th mt cach trc quan, sinh dng. 44 Hnh 2.28Front panel -Controls = Inputs (ng vao). -Indicators = Outputs (ng ra). Cac input va outputnaydc lyra t bngdiu khin, cha dng hu ht cac ham ph bin dc s dng trong diu khin: Hnh 2.29Cc chc nng diu khin v ch th trong Front Panel -Biuakhi(BlockDiagram):lacassonthochochngtrinhdha. Ni dung hin th gm co: -Cac khi control va indicator ca chng trinh chinh. -Cac dng dy lin kt tin hiu. 45 Hnh 2.30Block Diagram Ngoaira,BlockDiagramconchacacham(funtions)dungtrongthitktinh toan va diu khin, cac ham nay s khng hin th Front Panel. Hnh 2.31Cc hm trong Block Diagram MaudylinkttrongngnngdhacaLabVIEWlakhacnhauchomi kiu d liu: Hnh 2.32Mu sc ca dy d liu trong LabVIEW 46 CHNG 3: XY DNG M HINH QUADROCOPTER 3.1S d khi tng th ca h thng KhungQuadrocopterJoysticksVi diu khinPin 9VPin LipoVi diu khinESCsMotorsCm binPht RF Thu RF: nng lng: tc dng c hc: dng tn hiuRS-232 Hnh 3.1S d khi tng th ca h thng H thng nhin chung s co 3 khi thanh phn chinh: -Khi diu khin: gm cac thanh phn nh pin 9 Volt cung cp nng lng, cac tay joystick diu khin 4 knh throttlerollpitchyaw, vi diu khin va b phat tin hiu bng song RF. -Khi m hinh Quadrocopter vi b thu RF, vi diu khin chinh, cac cm bin quantinhIMU,cacbdiutcESCvadngcBLDC,pinLithiumPolymerlam ngun nui chung. -Khi giam sat: gm co cng giao tip RS232kt ni vi may tinh. Chc nng thu thp d liu, hin th va x l thng tin ca khi m hinh trong qua trinh tin hanh thc nghim. 47 3.2Thit k c kh Phnquantrngnhtkhithitk,chtockhilathanhnigiadngcva phntrungtmcaQuadrocopter.ylaphnchulc,ngsutchyutrn Quadrocopter nn yu cu la tinh toan va thit k phi tt ma vn dm bo tinh thm m ca sn phm. Yucuchungcathitblaphinhvadmbochungsut,sccngtt nn nhom quyt dnh s dng vt liu la nhm d ch to. Yucuthhailatrcquaycacaccanhqutphithtsvunggocvimt phng khung ch thp d khng gy ra cac sai s so vi m hinh toan d xy dng. Ngoai ra, Quadrocopter phi dm bo khong cach gia cac canh qut d rng d co th chuyn dngdc. Vi vychiu dailca thanh ni philn hn dngkinh Dcanh qut /. Nhom chn chiu dai thanh ni la 220mm (ng vi Dcanh qut = 254mm), s dng nhmhpcokichthc13x20(mm),dday1.0mm,ctbvtliunhngvung khng chu ng sut d gim khi lng va ti u hoa thit k.Phnkhpnitrungtmconhimvktni4canhtaytothanhkhungch thp cho Quadrocopter. Chi tit dc gia cng trn may phay CNC vi phi nhm tm co d day 1.5mm. Yu cu k thut la cac l khoan phi chinh xac d khng lam lch hay cong vnh cac tay ni. Khp ni trung tm dc c dnh bng rivet 4mm. Hnh 3.2Thit k dng cu hnh chong chng dy (pusher propeller) thitkdutin,mhinhsdngqut3canhvaadaptergicanhkiubo trc. Do cac canh qut lp vao trc dng c la da vao lc p va ma sat, nu bt dng c vao khung theo cach thng thng, canh qut nm bn trn dng c, thi khi dng c quay nhanh, lc dy va moment xon sinh ra co xu hng lam cho cac canh qut 48 naytrtrakhitrc,conguycphavtinhndnhvagyhhichomhinh. Vivybtbucphibtdngctheocachngcli,dungcuhinhchongchong dy, cac canh qut nm bn di d dm bo cho tinh n dnh va an toan ca m hinh. Sau mt khong thi gian bay th nghim, nhn thy vi thit k nay, trng tm camhinhquacao,nmtrncmtphnglcnngcaccanh qut.Nhvythi mt khi b lch khi v tri cn bng, m hinh s co xu hng lt nhao d da trng tm vvtricnbngbn.Thitkkiuchongchongdytrakhngconphuhp,no lam mt d n dnh, m hinh s kho diu khin hn. Bn thit k th hai chuyn sang cu hinh dung chong chong ko d dem li d n dnh tt hn, du co lch khi v tri cn bng thi trng tm ca m hinh s t ko no tr li. Hnh 3.3Thit k dng cu hnh chong chng ko (tractor propeller) Tuyvy,thitknayvncontimnnhiunguyckhicaccanhqutkhng dc lp mt cach chc chn ln trc dng c. Hnna,cacdngcBLDCkhiquaycodrung,boarddiukhintrungtm gn cng ln m hinh s truyn toan b rung dng nay ln cm bin, gy ra nhiu rt ln trong tin hiu thu nhn.Apdngnhngthaydilnthitkthba,mhinhQuadrocopterhintid tha mn dy d nhng yu cu dt ra: - Trng tm thp d nng cao d n dnh. 49 - Cac canh qut bt 'mm ln trc dng c bng prop saver vi nhiu u dim: khngbtrttrntrcnhadapterc,canhitbhhidoschayvadp,canh qut khi quay cng it rung hn, v.v... - Board diu khin trung tm dc dt trn 4 vong nhad gim dc dang k rung dng tac dng ln cm bin, tin hiu thu nhn nh do d chinh xac hn. Hnh 3.4Mu thit k th ba J tinh toan a bn. Hnh 3.5M phng ng sut cho cu hnh chong chng dy 50 Hnh 3.6M phng ng sut cho cu hnh chong chng ko

Hnh 3.7M phng chuyn v cho cu hnh chong chng dy Hnh 3.8M phng chuyn v cho cu hnh chong chng ko 51 M phng ng sut va chuyn v trn phn mm Solidworks, chn vt liu nhm tngngla7075-T6,dtngamticacdimlinktvi2tmni,hsantoan bng 7, lc ko tng ng vi cng sut cc di ca dng c la 12N.Ktqumphngchothytrncacthanhnikhngxuthinvungngsut nguy him. im phi chu ng sut cao nht la dim giap vi ngam ch mc40% kh nng nguy him. Ngoai ra kt qu m phng con cho thy nhng phn vt liu b ct b d khng h nh hng ti d bn ca thanh. Ti biu d chuyn v, co th thy chuyn v ln nht thanh phi chu la 0.12mm, trong do chuyn v ti v tri dt dng c la 0.09mm. Gia tr chuyn v nay rt nh nn s khng gy ra nhiu sai lch so vi m hinh toan Newton-Euler d xy dng. Hnh 3.9M hnh my bay Quadrocopter thc tthitksaucungtrnmhinhthct,cacvongdmdcthaybngbn thanh xp d co hiu qu gim rung tt hn. 3.3Thit k h thng diu khin Cac yu cu khi thit k h thng diu khin: -Tc d x l phi nhanh, lun mc cao nht co th. -Kh nng x l tin hiu phi tt, loi b ti da nhiu xut hin trong qua trinh diu khin. -Tinh n dnh va d bn cao. Theodo,hthngdiukhintrnQuadrocoptersbaogmcackhivicac chc nng nhim v ring nh sau: 52 3.3.17D\LXNKLQ Hnh 3.10S d khi tay diu khin Nhim v ca tay diu khin la phat tin hiu diu khin trn 4 knh chinh yu la throttle, yaw, pitch, roll dn board trung tm d diu khin m hinh bay theo mun. V vn d chun giao tip, nhom d chn truyn thng UART thay vi s dng k thutvtuyntriph(SpreadSpectrum)tnsFM2.4GHzvnthngdngtrong lnhvcmhinhdiukhinnayvinhngldovkinhphi,kinhnghimsdng, kh nng ng dng, m rng va phat trin sau nay ca d tai. Nhom d xy dng m diu khin da trn truyn thng UART, s knh diu khin va tin hiu diu khin s d dang thay di ma khng cn can thip nhiu vao phn cng cng nh phn mm. Hnh 3.11S d nguyn l tay diu khin 53 Hnh 3.12Board diu khin Vimcdichxydngmtmhinhbaycokhnngtcnbng,thithitb diu khin s dong vai tro h tr, do do tin hiu diu khin cng khng cn phi co tn s cao hay la d phn gii ln. dy s dng b ADC 8-bit dc din ap diu khin t cac joystick, quy di sang dng m ASCII in dc va truyn dn mch trung tm nm trn Quadrocopter. phn gii trn mi knh tin hiu la 90, tn s truyn la 5Hz. 3.3.20FKWUXQJWkP Hnh 3.13Mch trung tm trn m hnh Quadrocopter 54 Hnh 3.14S d khi mch trung tm Cac nhim v ca mch trung tm: -nhn tin hiu hot dng t tay diu khin. -x l tin hiu t cm bin IMU (gyroscope va accelerometer) d co dc thng s trng thai ca m hinh. -xut tin hiu diu khin tng ng ra c cu chp hanh (b diu tc - dng c). -truyn cac thng s trng thai hot dng ln may tinh cho mc dich giam sat. 55

Hnh 3.15 S d nguyn l mch trung tm 56 Hnh 3.16Board trung tm Vinhngldonhdndnhcatinhiutruyn,titkimnnglnghot dngmataydiukhinkhngnhtthitphicotnstruyncaonhtnshot dngtimchtrungtm.Dodo,mchtrungtmcncothmmtvidiukhin ATmega8 dong vai tro lam b dm. ATmega8 s dng tn s xung clock 7.3728 MHz d khng gy ra sai s tc d Baud khitruyn thng UART, nhn tin hiutn s5Hz t taydiu khin,dngthi dongvaitrolambtoxunghotdngkhitruynlivitns50Hzchovidiu khin chinh. Khi co li hoc b gian don tin hiu t tay diu khin, ATmega8 s ly gia tr cui cung nhn dc tip tc truyn cho vi diu khin chinh. VidiukhinchinhATmega128sdngxungclockcotnscaonhtla16 MHz d nng cao hiu sut x l, dung b ADC 10-bit d dc tin hiu ca cm bin, sau khi x l bng b lc s xut tin hiu diu khin tng ng dn tng dng c qua 4 knh PWM dc lp 16-bit.Ngoai ra con co chc nng kim tra din ap pin knh ADC4, dung LED nhp nhay cnh bao khi pin yu. 57 KhigiaotipRS232vimaytinhdctachringdgimkhilngboard trung tm. Hnh 3.17Board giao tip RS232 3.3.3Module RF ModulethuphatRFtns915MHz,dungtruynthngUART8-bit,tcd truyn ln dn 19200bps, co kh nng lin lc tt trong phm vi 200m. Hnh 3.18Module RF s dng truyn thng UART Bng 3.1M t cc chn kt ni ca module RF 58 3.3.4&PELQ,08 IMU (Inertial Measurement Unit) la mt dn v do lng quan tinh s dng kt hpcacaccelerometervagyroscope,cochcnngdara6trng thaicahthng: goc nghing, xoay, lch va 3 vn tc goc theo 3 trc XYZ. dotrngthaichuyndngcamhinh,trnmchtrungtmsdngkhi IMU 5 bc t do(gm gyroscope 2 trcIDG650, accelerometer 3 trc MMA7361L) va mt gyro dn trc LISY300AL d do bc t do con li. Hnh 3.19IMU 5 bc t do v gyroscope LISY300AL Bng 3.2Cc thng s k thut ca cm bin Thng sLISY300AL IDG650MMA7361L in ap hot dng3.3 V3.3 V3.3 V Tm do+ 300 o/s + 2000 o/s + 440 o/s + 1.5 g + 6.0 g nhy3.3 mV/ o/s 0.5 mV/ o/s 2.27 mV/ o/s 800 mV/g206 mV/g Tn s cng hng4.5 KHz25 KHz6.0 KHz Tn s dap ng//400 Hz Gia tr goc ca accelerometer rt d b nhiu bi nhng rung dng ca m hinh, trong khi gia tr vn tc goc ca gyroscope li rt it bin dng do nhiu loi nay. Tuy nhin, nu ch dung gyro dn thun thi s dn dn li tichly.Bi vih thngdnh hngkiunaylintccpnhtthaydisovivtritrcdo,btksaisotnao trong do dc, du la rt nh cng s dc tich ly vao nhng cp nht sau nay, gy ra hin tng 'tri lam tng dn d sai lch gia trng thai ma cm bin dnh hng so vi trng thai thc t. loi b nhiu rung dngnaycn phi kt hp gia tr goc ca accelerometer vi vn tc goc dc t gyroscope da vao b lc thut toan Kalman, tim ra gia tr gn vi gia tr thc, n dnh va dang tin cy hn d dung trong diu khin hot dng ca h thng. 59 3.3.5QJF%/'&Yj%LXWF(6& Trn th trng co nhiu loi dng cmt chiu khng chi thanvi cngsut va lc nng khacnhau. dy s dngloi dng cFC2835-10T co sc nng ti da 1.2Kg. Hnh 3.20Brushless motor FC2835-10T ngcBLDCFC2835-10Tlaloioutrunner,btlnmhinhtheokiurear mount, co rotor la v bn ngoai gn cac nam chm vnh cu quay tron theo trc dng c, con stator la li mang cac cun dy dng yn. Bng 3.3Thng s k thut ca dng c FC2835-10T STTThng sGi tr 1Vn tc830 (vong.Volt/ phut) 2in ap hot dng9.614.8 (Volt) 3Dong din cc di25 (Ampere) 4Lc nng ti da1200 (gram) 5Kich thc canh qut< 10x7 (inch) Hai loi canh qut co kich thc phu hp vi dng c d s dng trong m hinh: Hnh 3.21Cnh qut GWS EP-1060Rx3 60 Hnh 3.22Cnh qut EPP1045 CanhqutdungchoQuadrocopterlaloitcdthp(slowIlyer).Ngoailoi canh tractor thng dng (con gi la canh CCW, counter clockwise), Quadrocopter cn cocanhpusher(congilacanhCW,clockwise)quaytheochiunghchlidtrit tiucacmomentxonsinhra.CanhEPP1045dcsdngrtphbintrongcacmhinhmulti-rotor.Tuynhin,dykhngphilaloicanhttnht.CanhAPCva canh Graupner co d cng, d bn va d n dnh cao hn, la la chn thich hpcho cacm hinh co khi lng trn 1Kg. [9] Chuy:phicnchnhlitrngtmcanhchothtcnbngtrckhilpvao dng c d gim rung. dngcBLDChotdngdccncobdiutcESC(ElectronicSpeed Controller)bin di din apmt chiu thanh din ap xoaychiu3pha cung cp cho dngc.ESCco2dyngunvaodcnivipinLithiumPolymer11.1V,3ng vao diu khin (gm 1 dy din ap 5V, 1 dy mass va 1 dy tin hiu PWM) kt ni vi vi diu khin trn mch trung tm. Hai loi ESC d dung trong m hinh: Hnh 3.23ESC HiModel GX-40A Bng 3.4Thng s k thut ca ESC HiModel GX-40A STTThng sGi tr 1in ap hot dng 4.814.4 (Volt) 2Dong din cp cc di 4045 (Ampere ) 3BEC (battery eliminator circuit)2A / 5V 4Tn s diu khin pha 8KHz 5ProgrammableNo 61 Hnh 3.24ESC Hobbywing Pentium 30A Bng 3.5Thng s k thut ca ESC Hobbywing Pentium 30A STTThng sGi tr 1in ap hot dng 5.616.8 (Volt) 2Dong din cp cc di 3040 (Ampere ) 3BEC (battery eliminator circuit)2A / 5V 4Tn s diu khin pha 8KHz 5ProgrammableYes Phng phap aiu khin ang c khng chi than brushless DC motor: Nhdgiithiutrn,dngcmtchiukhngchithandcdiukhin bng b diu tc ESC co ch d t bo v khi qua ti, bao hiu khi ngun pin khng d hoc khng co tin hiu diu khin. Vi thng s k thut d trinh bay chng 2, chukxungyucudavaochntinhiucaESCla20ms,drngxung(duty cycle) la t 1.0ms dn 2.0ms. Ngoai khong tin hiu nay ESC s khng hot dng nn trong chng trinh bt buc phi co khng ch gia tr vi min la 1.0ms, max la 2.0ms. ATmega128htr2Timer16-bitvi6knhdiukhinPWMdclpcod chinhxaccao,nhvycothdiukhindclp4dngcBLDCtrnmhinh Quadrocopter nay. Mt lu khi s dng la khng dc php tng gia tr duty cycle mt cach dt ngt. Vi nh vy kh nng x l tin hiu ca b driver khng dap ngkp, d gy ra li tin hiu va mt kim soat. 3.4Xy dng thut ton diu khin S d khi h diu khin cn bng: _iu khin PIDESC ng cCm bin IMUQuadro-copterGc dt , =0Gc thc , SaisPWMTn s3pha Hnh 3.25Cu trc h diu khin 62 Hnh 3.26S d khi tn hiu diu khin hon chnh Trong s d diu khin nay, m hinh s t diu chnh trng thai cho phu hp vi cac thng s diu khin (d cao, cac goc roll, pitch, yaw).Do dc dim diu khin ca mi thng s nay la khac nhau nn ham hiu chnh PID tng ng ca chung cng co h s khac nhau.Hin ti, do vic thu nhn cac thng s trng thai ca m hinh con cha tt,tin hiu nhn dc con b tac dng nhiu bi nhiu, nn m hinh vn cn thm s h tr t ngi diu khin d khc phc cac sai lch nay. Hnh 3.27S d khi tn hiu diu khin hin ti 63 Theo do, cac ham diu khin P, PID s hiu chnh sai lch gia goc mong mun va goc ma cm bin do dc. Cac sai s trong do dc s dc diu chnh li bng tin hiu t tay diu khin. Trong trng hp nay, cac goc pitch, roll mong mun dc gan gia tr la 0. Lu d gii thut chng trinh diu khin chinh: StartThit lp vi diu khinNhn thng s diu khin (throttle, roll, pitch, yaw)c tn hiucm bin MUX l tn hiu cm binHiu chnh PD(roll, pitch, yaw)Xut tn hiu diu khin Hnh 3.28Gii thut chng trnh diu khin chnh 64 CHNG 4: KT QU THC NGHIM 4.1.Xy dng b lc Kalman cho m hnh my bay Quadrocopter 4.1.1X OWtQKLXFPELQ,08EFWGo [10] Vector trn h ta d di din cho vector trng lc (cung hng vi gia tc trng trng, ). Hnh 4.1Vector trng lc xt trong 3 trc ta d ca cm bin gia tc Trn cm bin gia tc, tuy theo hng ca gia tc trng trng ma ti cac ng ra ca 3 trc XYZ s xut hin cac gia tr din ap tng ng. Goc nghing ca cm bin so vi gia tc trng trng dc xac dnh nh sau: sinXZ = sin(Axz) = Rx / Rxz ; cosZX = cos(Axz) = Rz / Rxz sinYZ = sin(Ayz) = Ry / Ryz ; cosZY = cos(Ayz) = Rz / Ryz =>tanXZ = tan(Axz) = sinXZ / cosXZ = Rx / Rz tanYZ = tan(Ayz) = sinYZ / cosYZ = Ry / Rz =>Axz = arctanXZ = atan2(Rx, Rz) Ayz = arctanYZ = atan2(Ry, Rz) Trong do, Rx Ry Rz xac dnh theo gia tr din ap dc dc ng ra ca cm bin bng b chuyn di ADC 10-bit: Rx = (ADC_Rx * Vref / 1023VzeroGx) / Sensitivity Ry = (ADC_Ry * Vref / 1023VzeroGy) / Sensitivity Rz = (ADC_Rz * Vref / 1023VzeroGz) / Sensitivity Xac dnh cac di lng vn tc goc ca cm bin gyroscope nh sau: RateAxz = (ADC_GyroXZ * Vref / 1023VzeroRatexz) / Sensitivity RateAyz = (ADC_GyroYZ * Vref / 1023VzeroRateyz) / Sensitivity 65 4.1.27LX KyD WKXWWRiQKalman ThuttoanKalmanbaohamcacphptoantrnmatrnvicacphntdu dng s thc. Do do, khi da vao tinh toan trong vi diu khin cn phi thc hin ti uhoasaochodnginnhtnhmgimthigiantinhtoan,tngchuklamvic, nng cao hiu sut cho h thng. y la thut toan Kalman sau khi dc ti u: [11] { // Inputsu = gyros; y = angle; // Update the state estimate // x = A * x + B * u x_00 += (A_01 * x_10) + (B_00 * u); // Compute the innovation -- error between measured value and state // inn = y - c * x inn_00 = y - x_00; // Compute the covariance of the innovation // s = C * P * C' + Sz s_00 = P_00 + Sz;// Compute AP matrix for use below // AP = A * P AP_00 = P_00 + A_01 * P_10; AP_01 = P_01 + A_01 * P_11; AP_10 = P_10; AP_11 = P_11; // Compute the kalman gain matrix // K = A * P * C' * inv(s) K_00 = AP_00 / s_00; K_10 = AP_10 / s_00; // Update the state estimate // x = x + K * inn x_00 += K_00 * inn_00; x_10 += K_10 * inn_00; // Compute the new covariance of the estimation error // P = A * P * A' - K * C * P * A' + Sw APAT_00 = AP_00 + (AP_01 * A_01); APAT_01 = AP_01; APAT_10 = AP_10 + (AP_11 * A_01); APAT_11 = AP_11; KCPAT_00 = (K_00 * P_00) + (K_00 * P_01) * A_01; KCPAT_01 = (K_00 * P_01); KCPAT_10 = (K_10 * P_00) + (K_10 * P_01) * A_01; KCPAT_11 = (K_10 * P_01); P_00 = APAT_00 - KCPAT_00 + Sw_00; P_01 = APAT_01 - KCPAT_01; P_10 = APAT_10 - KCPAT_10; P_11 = APAT_11 - KCPAT_11 + Sw_11; // Output return = x_00; } 66 4.1.3;iFQKFiFWK{QJVYjKRjQFKQKEOF Kalman Cac thng s ca b lc Kalman la khac nhau di vi nhng h thng khac nhau. Chung dc xac dnh ch yu bng kt qu do dc thc nghim, khng th dung mt phng phap toan hc nao tinh ra dc.B lc Kalman ap dng cho h thng cm bin gm accelerometer va gyroscope dung trong d tai co nhng thng s dc xac dnh nh sau: -thi gian ly mu dt = A_01 = B_00 - phng sai nhiu do lng R = 0.3 rad = 17.2o - phng sai nhiu qua trinhQ angle = 0.0001 Q gyro = 0.0003 Va dy la kt qu thu dc t b lc Kalman dc xy dng theocac thng s nh trn: Hnh 4.2B lc Kalman hon chnh Trong do: : tin hiu t cm bin gia tc accelerometer : tin hiu goc nghing sau khi quy di : tin hiu t cm bin con quay hi chuyn gyroscope : tin hiu goc nghing sau khi lc 67 4.2.Chng trnh gim st dng phn mm LabVIEW [7] [8] 4.2.1.LPWUDYj[OWtQKLXFPELQ Hnh 4.3Giao din x l tn hiu dng Kalman trn LabVIEW Tin hiu cm bin dc ATmega128 truyn ln LabVIEW qua cng RS232, sau do dc lc bngb lc Kalman. Hnh 4.4S d khi x l tn hiu dng Kalman trn LabVIEW 68 truyn nhn d liu qua cng COM, chng trinh gm 3 khi VISA chinh: - VISA ConIigure Serial Port: dung khai bao cac thng s giao tip nh data bit, time out, stop bit, VISA resource name (tn cng COM). Hnh 4.5Khi VI VISA Configure Port - VISA Read: dung dc d liu v t cng COM, byte count: s byte dc v. Hnh 4.6Khi VI VISA Read - VISA Write: dung ghi d liu xung cng COM, write buIIer: d liu cn ghi xung COM. Hnh 4.7Khi VI VISA Write Ham ct chui k t va chuyn thanh s nguyn to thanh mt mng: Hnh 4.8Khi Spreadsheet String To Array Code thut toan Kalman dc vit trong ham Mathscript Node: Hnh 4.9S d khi Mathscript Node 69 4.2.2*LiPViWWUQJWKiLKRWQJFDQuadrocopter Quadrocopter khi hot dngcn dc giam sat cac thng s: tc d ca 4 dng c va hai goc nghing pitch, roll. Hnh 4.10Giao din gim st trng thi Quadrocopter Giaodinhinthdngchntridcgilpnhtrongbunglaithcca may bay. Bn cnh la d th lu li cac gia tr goc d theo di trc do. Khi goc yaw dc giam sat, co th dung thm kim la ban d ch th hng. Tuy nhin,giamsatnhvycngkhodngidungcothhinhdungtrngthaica Quadrocopter mt cach trc quan.70 Vy nn ta cn co thm mt giao din giam sat 3D: Hnh 4.11Giao din gim st trng thi Quadrocopter bng hnh nh 3D Giao din giam sat vi hinh nh 3D nay cho ngi dung mt cai nhin trc quan hn v trng thai thc ca Quadrocopter.Hinh nh hin th trn giao din s thay di theo tng trng thai ca m hinh, qua do th hin dy d cac thng s: goc roll, pitch, yaw, tng quan tc d gia 4 dng c va hng di chuyn ca m hinh. 71 Hnh 4.12Block Diagram chng trnh gim st trng thiTrong chng trinh trn co hai khi sub VI: - KhiSubVIArtificialHorizon:diukhinhinthgocbayPitch/Rollbng hinh nh dng chn tri. Hnh 4.13Chng trnh khi Artificial Horizon 72 - Khi Sub JI 3D Picture: diu khin hin th trng thai Quadrocopter bng hinh nh 3D. Hnh 4.14Chng trnh khi 3D Picture Phn code Mathscript Node dung d tinh toan va la chn hinh nh hin th. Ngoai ra, trong LabVIEW conco chc nng hin thm hinh vtth 3D.Khi m hinh dc thit k trn Solidworks, sau do dc da vao hin th trn LabVIEW. Hnh 4.15Mt chng trnh LabVIEW hin th m hnh vt th 3DNhom s tip tc nghin cu, tim hiu v chc nng nay trong nhng phat trin tip theo ca d tai. 73 4.3.Kt qu thc nghim v nhn xt 4.3.1iSQJOF\FD(6& Motor90oE-4MotorE-4MotorE-4MotorScale1KgBalanceThrust Hnh 4.16M hnh kim tra lc dy dng c Trong m hinh kim tra lc dy nay, kt qu nhn dc da vao d thay di khi lng ca vt nng 1Kg do dc cn din t, lc dy canh qut cang ln khi lng do dc gim di cang nhiu. co kt qu do chinh xac thi trc ca dng c phi trung vi phng ca trng lc, ngha la goc ca dy treo vt nng va khung Quadrocopter phi bng 90o. lndodapnglcdy(1),mhinhsdng4bESCHiModelGX-40A, motor FC2835-10T va canh qut GWS EP-1060Rx3. ATmega128 s dng Timer 16-bittoxungPWMtheochdPhaseandFrequencyCorrect,giatrtrnthanhghi diu khin thay di t 1000 dn 2000 d to d rng xung 1.0ms dn 2.0ms cp cho ESC. [15] lndodapnglcdy(2),mhinhthayvao1ESCHobbywingPentium 30A,disangcanhqutEPP1045.ATmega128sdngTimer16-bittoxungtheo chdFastPWM,giatrthanhghidiukhinthaydit2000dn4000dtod rng xung 1.0ms dn 2.0ms cp cho ESC (xem thm ph lc B). Sau khi kim tra va danh gia kt qu, nhom co dc bng tham chiu gia tr gia lc dy ca dng c va tin hiu diu khin PWM: 74 Bng 4.1Bng tham chiu dp ng lc dy (1) ca dng c Thrust (g)FrontAfBackAbRightArLeftAl 101107-1107-1107-1107- 20112316112316112316112316 301135121134111132911318 4011427114171140811409 50115513114871148811455 60116491158101156811549 701172811679116812116410 8011819117361175711728 901190911841111849118311 100120212119281192811885 110120531203111199711946 120121381205212045120410 130122714121271206212084 140123361218612161012146 1501240712301212331712239 1601253131238812418123714 170126181250121250912458 180126871258812601012538 1901270212681012701012618 20012766127351273312698 210128591283101281812723 22012949128961286512808 230130281297812948129010 2401310813071013028130010 2501323131315813075131717 26013351213281313191213236 2701343813379133011133613 2801357141343613401013415 290136251355121349913476 30013664136161354513525 31013682137091360613597 320137681379913711113678 330138711138671380913769 34013981113971113901013859 350140351402513999139611 360141071410814091014026 370141551417714178141816 38014238142581424714268 39014318143491430614315 40014409144061434414376 41014488144551439514425 42014524145271448914497 4301462101460814591114545 44014642146771466714606 45014684147031471514666 75 Bng 4.2Bng tham chiu dp ng lc dy (2) ca dng c Thrust (g)FrontAfBackAbRightArLeftAl 102100-2214-2214-2214- 20213030223521223521223521 30216030225015225520225520 40219030227020227823227520 5022223222801022857228510 60225533230020231025230015 70228530232020232717231515 80231530234020234316234429 90234530235010235512235511 100237530237020237520237015 110240328238010239015238212 120243027240020240212239614 13024552524066241412241014 14024853024126243016242010 150251025243018244313243515 160253020244515246017245217 170256030246520247717247018 180259030248015249518248010 190262030249515251015250020 200264525251015252515252020 210267025252818254116253515 22026962625391125509255015 230271519255011256818257020 240274025257020258012258414 250277030259020260525260016 260280030260515262520262020 270282525262015264015264020 280285530263515265515265616 290288530265217267318267014 30029153026701826831026777 31029453026755269512269013 320297530269015271015270515 330301035270515272515272015 340304030273025274015273717 350307030275020275717275922 360310030277020277720277213 370312020279020279720278614 380315030280212281013280519 390318030281614282212282015 400320020283216283210283212 Ghi chu. ESC Hobbywing Pentium 30A diu khin motor dt phia trc. ESC HiModel GX-40A diu khin 3 motor con li.76 Hnh 4.17 th dp ng lc dy (1) ca dng c Hnh 4.18 th dp ng lc dy (2) ca dng c 1100115012001250130013501400145015001030507090110130150170190210230250270290310330350370390410430450Back Front Right Left2100230025002700290031001030507090110130150170190210230250270290310330350370390Back Front Right Left77 Nhn xet. -ng dap ng lc dy nhin chung la tuyn tinh vi tin hiu diu khin.-Tuy nhin, trn dng dap ng co xut hin nhiu don gy khuc, nguyn nhn la do: b diu tc ESC hot dng cha tt, hinh dang khi dng hc ca canh qut cha tt nn lc dy to ra khng dng du. -apnglcdythudclattnhtviESCHobbywingPentium30Ava canh qut EPP1045. 4.3.2iSQJFDP{KuQKYLFiFWK{QJVLXNKLQ3,' Hnh 4.19S d khi b diu khin PID vi cc khu t l, tch phn, do hm Trongdiukhincnbng,mhinhmaybayQuadrocopterthngsdng3 loi diu khin la P, PD va PID, vi gia trcn hiu chnh la cac goc roll, pitch, yaw nhn t cm bin IMU. Do gii hn ca d tai ch tp trung vao gii thut diu khin cn bng, cha co cm bin ch phng d xac dnh goc yaw nn s ap dng diu khin P d khng ch goc lch nay. Gia tr da vao dy la vn tc goc ly t gyroscope LISY300AL. Vicacgocpitch,rollssdngbdiukhinPD,PID.Saudylaktqu thc nghim cho diu khin cn bng cac goc nay: a.iu khin PD Co 4 phng phap xac dnh thng s ca b diu khin: -iu chnh th cng: khng cn hiu bit v toan, da trn thc nghim va doi hi kinh nghim ca ngi diu chnh. -ZieglerNichols: phng phap chng minh, da trn thc nghim, nhc dim la lam ri lon qua trinh, mt s th nghim gy li, phi diu chnh nhiu ln -Dungcngcphnmm:diuchnhchcchn,datrnthcnghimhoc trntinhtoan,chophpmphngtrckhiapdngthct,conhcdimladoi hi chi phi cao va phi dc hun luyn. -CohenCoon:xlcacmhinhtt,datrntinhtoanvayucuphivng kin thc toan hc, nhc dim la ch tt di vi cac qua trinh bc mt. 78 Nhvy,trongdiukincadtai,cothdavaonidungcaphngphap ZieglerNichols lam c s d xac dnh cac thng s P, D. Theo do: - khu P, da vao gia tr goc do dc, so sanh hiu chnh vi goc cn bng zero. -khuD,davaogiatrdohamtheothigiancagocxoay,dychinhla gia tr ca cm bin gyroscope nn ta khng cn phi tinh toan thm. Ban du, cac thng s I va D dc gan bng 0. li P dc tng cho dn khi tin ti gii hn, du ra ca vong diu khin bt du dao dng. Sau do gim gia tr P xung mt na va bt du diu chnh gia tr khu D. Vi cac thng s dc xac dnh la P 8.5, D 35.0, m hinh thu dc dap ng nh sau: Hnh 4.20 th dp ng PD ca gc pitch vi tc dng 79 Hnh 4.21 th dp ng PD ca gc roll vi tc dng M hinh diu khin ca goc pitch va roll la tng dng nhau nn cac thng s P, D ca chung cng ging nhau. Da vao d th co th thy la kt qu dap ng cn bng trn 2 trc XY d kha tt. Du vn con dao dng + 3o nhng goc gi d rt n dnh quanh gia tr cn bng. Sau khi th nghim vi diu khin PD nay, m hinh d bay dc nhng mc n dnh con thp, thi gian bay cn bnglu nht ch dt khong 15 giy. dt d n dnh cao hn, b diu khin cn thm thng s I. 80 b.iu khin PID Hnh 4.22 th dp ng PID ca gc pitch 81 Hnh 4.23 th dp ng PID ca gc roll 82 Trong b diu khin nay: - khu P va khu I, so sanh hiu chnh gia goc do dc vi goc diu khin. - khu D, da vao gia tr vn tc goc ca cm bin gyroscope. Vi cac thng s diu khin la P 5.0, I 0.25, D 35.0, m hinh thu dc dap ng nh trn. Qua d th, ta co th thy: -ap ng cn bng d tt hn so vi b diu khin PD. - cac goc diu khin t 10o dn 10o, dng dap ng co d tr. -Khi goc diu khin khac 0, dng dap ng con sai s, khng tt nh goc 0o. Hnh 4.24Thc nghim dp ng diu khin gc vi m hnh trn gi d (trng tm ca m hinh dc b tri nm bn trn trc xoay) c.Nhn xet chung -Cac thng s diu khin PID d chn la phu hp vi m hinh h thng. -Tuynhin,dotnscpnhtcabdiukhinconthp(50Hz)nndng dap ng con dao dng vi sai s + 3o. -Motor va canh qut vn con rung nhiu, gysai s ln ktqu do va lam nh hng dn cht lng dap ng ca h thng. 83 a. Kim tra m hinh aang bay thc t Hnh 4.25Nhng hnh nh bay thc t ca m hnh Quadrocopter Trong ln bay thc t nay, m hinh dc gi bng dy treo dkim tra tinh cn bng.KtquchothymhinhQuadrocopterdcokhnngtcnbng,coth chng chu dc vi tac dng bn ngoai ma vn gi dc goc bay n dnh.Tuy nhin, do qua trinh tinh toan goc zero vn con b sai lch, nn d co th bay t do dc thi m hinh cn phi dc diu chnh va kim tra thm. 84 CHNG 5: KT LUN 5.1.Nhng kt qu dt dc Vi cacmctiu d tai d dt ra, quaqua trinh thc hin, nhom nghin cu d dt dc nhng kt qu nh sau: J nghin cu ly thuyt. cosnghincuvanmbtmtcachtngthvnguynlhotdng, nguyn l diu khin, l thuyt tng quan v dng hc, dng lc hc, khi dng hc va m hinh toan ca thit b bay dng Quadrocopter. J thit k c khi. - Thit k hoan chnh m hinh c khi trn phn mm chuyn dng Solidworks. - Tinhanhmphngtinhtoanngsutvachuynvddmbovdbn, kh nng chu moment xon, moment un.- Ch to m hinh bng gia cng CNC dt d chinh xac v kich thc va kha ti uvkhilng(1365g),tndngdcngunthitbvavtliusncotrnth trng. - M hinh dm bo dc cac yu cu v k thut va thm m. J thit k aiu khin. - MchdiukhindcthitktrnphnmmchuyndngProteus,chng trinh diu khin dc m phng tinh toan trc khi thc hin. Mch co kh nng m rng kt ni thm nhiu module khac. - Chng trinh diu khin dc vit kha hoan chnh va linh hot, cho php diu khin m hinh Quadrocopter ct canh, h c