Đề tài Nghiên cứu và chế tạo mô hình máy bay quadrocopter
Tài liệu Đề tài Nghiên cứu và chế tạo mô hình máy bay quadrocopter: i 75ѬӠ1*ĈҤ,+Ӑ&6Ѭ3+Ҥ0.Ӻ7+8Ұ773+&0 .+2$&Ѫ.+ậ&+ӂ7Ҥ20ẩ< %Ӝ0é1&ѪĈ,ӊ17Ӱ W X ĈӖẩ17Ӕ71*+,ӊ3 1*+,ầ1&ͨ8 9ơ &+ɻ 7ɝ2 0é+ẻ1+0ẩ<%$<QUADROCOPTER GVHD: Th.S 3KҥP%ҥFK'ѭѫQJ SVTH : 1JX\ӉQ+ҧLĈăQJ7kP MSSV: 06111089 SVTH : 1JX\ӉQ/r1KұW7KҳQJ MSSV: 06111096 73+Ӗ&+ậ0,1+WKiQJ1 QăP11 ii %ӝ*LiRGөFYjĈjRWҥR 7UѭӡQJĈҥLKӑF6ѭ3KҥP.ӻ7KXұW7S+&0 .KRD&ѫNKt&KӃWҥRPi\ %ӝP{Q&ѫĈLӋQ7ӱ ---o0o--- &ӝQJ+Rj;m+ӝL&Kӫ1JKƭD9LӋW1DP ĈӝFOұS± 7ӵGR± +ҥQKSK~F ---o0o--- 1+,ӊ09ӨĈӖẩ17Ӕ71*+,ӊ3 +ӑYjWrQ 1JX\ӉQ+ҧLĈăQJ7kP MSSV: 06111089 1JX\ӉQ/r1KұW7KҳQJ MSSV: 06111096 /ӟS61111 1JjQK&ѫÿLӋQWӱ 1.1. 7ầ1ĈӖẩ1 1*+,ầ1&Ӭ89ơ &+ӂ7Ҥ2 0é+ẻ1+0ẩ<BAY QUADROCOPTER 1.2. 1+,ӊ09Ө - 7KLӃWNӃYjWKLF{QJP{KuQKQuadURFRSWHUYӟLFiFWKLӃWEӏWѭѫQJWKtFK - ;k\GӵQJWKXұWWRiQÿLӅXNKLӇQQuadrocopter Fy NKҧQăQJWӵWKăQJEҵQJ WUrQWUөFED\FkQEҵQJWURQJNK{QJWUXQJ - ;k\G...
Bạn đang xem trước 20 trang mẫu tài liệu Đề tài Nghiên cứu và chế tạo mô hình máy bay quadrocopter, để tải tài liệu gốc về máy bạn click vào nút DOWNLOAD ở trên
i
75ѬӠ1*ĈҤ,+Ӑ&6Ѭ3+Ҥ0.Ӻ7+8Ұ773+&0
.+2$&Ѫ.+ậ&+ӂ7Ҥ20ẩ<
%Ӝ0é1&ѪĈ,ӊ17Ӱ
W X
ĈӖẩ17Ӕ71*+,ӊ3
1*+,ầ1&ͨ8 9ơ &+ɻ 7ɝ2
0é+ẻ1+0ẩ<%$<QUADROCOPTER
GVHD: Th.S 3KҥP%ҥFK'ѭѫQJ
SVTH : 1JX\ӉQ+ҧLĈăQJ7kP
MSSV: 06111089
SVTH : 1JX\ӉQ/r1KұW7KҳQJ
MSSV: 06111096
73+Ӗ&+ậ0,1+WKiQJ1 QăP11
ii
%ӝ*LiRGөFYjĈjRWҥR
7UѭӡQJĈҥLKӑF6ѭ3KҥP.ӻ7KXұW7S+&0
.KRD&ѫNKt&KӃWҥRPi\
%ӝP{Q&ѫĈLӋQ7ӱ
---o0o---
&ӝQJ+Rj;m+ӝL&Kӫ1JKƭD9LӋW1DP
ĈӝFOұS± 7ӵGR± +ҥQKSK~F
---o0o---
1+,ӊ09ӨĈӖẩ17Ӕ71*+,ӊ3
+ӑYjWrQ 1JX\ӉQ+ҧLĈăQJ7kP MSSV: 06111089
1JX\ӉQ/r1KұW7KҳQJ MSSV: 06111096
/ӟS61111 1JjQK&ѫÿLӋQWӱ
1.1. 7ầ1ĈӖẩ1
1*+,ầ1&Ӭ89ơ &+ӂ7Ҥ2
0é+ẻ1+0ẩ<BAY QUADROCOPTER
1.2. 1+,ӊ09Ө
- 7KLӃWNӃYjWKLF{QJP{KuQKQuadURFRSWHUYӟLFiFWKLӃWEӏWѭѫQJWKtFK
- ;k\GӵQJWKXұWWRiQÿLӅXNKLӇQQuadrocopter Fy NKҧQăQJWӵWKăQJEҵQJ
WUrQWUөFED\FkQEҵQJWURQJNK{QJWUXQJ
- ;k\GӵQJFKѭѫQJWUuQKJLiPViWWӯPi\WtQKGQJLabVIEW
1. 1Jj\JLDRQKLӋPYөÿӅWjL: 30/08/2010
2. 1Jj\KRjQWKjQKQKLӋPYө 21/01/2011
3. +ӑYjWrQJLiRYLrQ KѭӟQJGүQ 7K6. 3KҥP%ҥFK'ѭѫQJ
4. +ӑYjWrQJLiRYLrQ SKҧQELӋQ ThS. /r7KDQK7QJ
1ӝLGXQJYj\rXFҫXĈ$71ÿmWK{QJTXD%ӝP{Q
1Jj\ôWKiQJ ôQăP
&+Ӫ1+,ӊ0%Ӝ0é1 *,ẩ29,ầ1+ѬӞ1*'Ү1
3+Ҫ1'ơ1+&+2.+2$%Ӝ0é1
1JѭӡLGX\ӋW FKҩPVѫEӝ .....................
ĈѫQYӏ ....................................................
1Jj\EҧRYӋ ...........................................
ĈLӇPWәQJNӃW .........................................
1ѫLOѭXWUӳGӵiQ ....................................
iii
1KұQ[pWFӫDgLiRYLrQKѭӟQJGүQ
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
TP.+&0QJj\ WKiQJ QăP11
Th.S 3KҥP%ҥFK'ѭѫQJ
iv
NKұQ[pWFӫDJLiRYLrQSKҧQELӋQ
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
ôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôôô
TP.+&0QJj\ WKing QăP11
Th.S /r7KDQK7QJ
v
/Ӡ,&Ҧ0Ѫ1
7UѭӟFWLrQ, FK~QJHP [LQÿѭӧFJӱLOӡLFҧPѫQWUkQWUӑQJYjVkXVҳF QKҩW ÿӃQWKҫ\
3KҥP%ҥFK'ѭѫQJ - QJѭӡL ÿmKӃWVӭF WҥRÿLӅXNLӋQYj WұQ WuQKKѭӟQJGүQJySờ,
ÿӝQJYLrQ FK~QJHP trong VXӕWTXiWUuQKQJKLrQFӭXWKӵFKLӋQÿӗiQQj\
;LQFKkQWKjQKFҧPѫQ ÿӃQWҩWFҧ TXờWKҫ\F{WKXӝF.hoa CѫNKt &KӃWҥR Pi\
BӝP{Q&ѫÿLӋQWӱWUѭӡQJĈҥLhӑF6ѭpKҥP.ӻ tKXұW7P.HCMQKӳQJQJѭӡL ÿmWUDQJ
EӏFKRFK~QJHPQKӳQJNLӃQWKӭFFѫEҧQFNJQJQKѭÿmQKLӋWWuQK KѭӟQJGүQ JL~Sÿӥ
FK~QJHP WURQJVXӕWNKyDKӑF YӯDTXD
Vj VDXFQJ, [LQÿѭӧFFҧPѫQ, FKLDVҿQLӅPYXLQj\YӟLJLDÿuQK QJѭӡL WKkQ,
FQJWұSWKӇOӟS&ѫÿLӋQWӱNKyD- QKӳQJQJѭӡLÿmOX{QӣErQ, TXDQWkP JL~Sÿӥ
YjWҥRÿLӅXNLӋQWKXұQOӧLÿӇ FK~QJ W{LÿѭӧFKӑFWұSQJKLrQFӭX Yj KRjQWKjQKÿӗiQ
WӕWQJKLӋSQj\.
7S+ӗ&Kt0LQKQJj\01 WKiQJ01 QăP11
1KyP WKӵFKLӋQ
1JX\ӉQ+ҧLĈăQJ7kP
1JX\ӉQ/r1KұW7KҳQJ
vi
7ẽ07Ҳ7%ẩ2&ẩ2
QuadURFRSWHUFzQÿѭӧFJӑL OjQuadrotor HHOLFRSWHU OjPӝWGҥQJPi\ED\ OrQ
WKҷQJÿѭӧFQkQJEӣLEӕQFiQKTXҥWÿһWWUrQPӝWNKXQJFKӳWKұS
0{ KuQK ÿѭӧF [k\ GӵQJ WKӓD PmQ Fҧ \ӃX Wӕ Oj QKҽ Yj FKҳF FKҳQ 1KӳQJ
FKX\ӇQÿӝQJFӫDP{KuQKÿѭӧFÿRÿҥFWK{QJTXDEӝ,08 (Inertial0HDVXUHPHQW8QLW
FzQJӑLOjEӝÿROѭӡQJTXiQWtQK) EDRJӗPPӝWFRQTXD\KӗLFKX\ӇQhai WUөFYjFҧP
ELӃQÿӝQJKLrQJEDWUөFYjÿѭDYӅYLÿLӅXNKLӇQWKӵFKLӋQWKXұWWRiQÿLӅXNKLӇQ PID
cho ÿӝQJFѫWK{QJTXDSKѭѫQJSKiSÿLӅXFKӃÿӝUӝQJ[XQJ3:0
vii
ABSTRACT
A Quadrocopter, also called a Quadrotor Helicopter, is an aircraft that is lifted by
four rotors on a cross-shaped frame.
We succeeded in building a Quadrocopter with stiff and lightweight structure.
Our QuadrocopterảV in-flight dynamics was measured via an IMU (Inertial
Measurement Unit) which equipped with a dual-axis gyroscope and a three axis tilt-
sensor. A microcontroller took these sensorVả inputs and performed PID control
algorithm on the four motors by varying PWM signals sent to each of the motors.
viii
0Ө&/Ө&
7UDQJEuD i
1KLӋPYөÿӗiQWӕWQJKLӋS ii
1KұQ[pWFӫDJLiRYLrQKѭӟQJGүQ iii
1KұQ[pWFӫDJLiRYLrQSKҧQELӋQ iv
/ӡLFҧPѫQ v
7yPWҳWÿӗiQ vi
Abstract vii
0өFOөF viii
'DQKPөFKuQK x
'DQKPөFEҧQJ xiii
&iFTX\ѭӟFYjKҵQJVӕOLrQTXDQ xiv
&+ѬѪ1* 7Ә1*48$1
1.1 6ӵNKiFQKDXJLӳD+HOLFRSWHUYjQuadrocopter 1
9ӅNӃWFҩXFѫNKtYjQJX\rQOờKRҥWÿӝQJ 1
9ӅWtQKQăQJÿLӅXNKLӇQ 3
1.2 7uQKKuQKQJKLrQFӭXWKXӝFOƭQKYӵFÿӅWjL 4
1.2.1 /ӏFKVӱSKiWWULӇQFӫDPi\ED\Quadrocopter 4
1.2.2 7uQKKuQKQJKLrQFӭXӣQѭӟFQJRjL 7
1.2.3 7uQKKuQKQJKLrQFӭXWURQJQѭӟF 10
1.3 1ӝLGXQJQJKLrQFӭXFӫDÿӅWjL 12
1.4 3KѭѫQJSKiSYjSKѭѫQJWLӋQQJKLrQFӭX 13
&+ѬѪ1*2: /ộ7+8<ӂ77,ӂ3&Ұ1
2.1 /ờWKX\ӃWÿLӅXNKLӇQQuadrocopter 14
2.2 0{KuQKWRiQFӫDQuadrocopter 17
2.2.1 ĈӝQJKӑF 17
2.2.2 ĈӝQJOӵFKӑF 20
2.2.3 0{KuQK1HZWRQ-Euler 21
2.2.4 .KtÿӝQJKӑF 27
2.3 ĈLӅXNKLӇQÿӝQJFѫPӝWFKLӅXNK{QJFKәLWKDQ 32
2.4 %ӝOӑF.DOPDQ 36
2.4.1 .KiLQLӋPEӝOӑF 36
2.4.2 %ӝOӑF.DOPDQOjJu ? 36
2.4.3 %ҧQFKҩWFӫDEӝOӑF.DOPDQ 38
ix
2.4.4 4X\WUuQKѭӟFOѭӧQJ 38
2.4.5 6RViQKFiFEӝOӑFYӟLEӝOӑF.DOPDQ 40
2.5 *LiPViW- ÿLӅXNKLӇQJLDRWLӃSPi\WtQKGQJSKҫQPӅPLabVIEW 42
2.5.1 7әQJTXDQYӅLabVIEW 42
2.5.2 7uPKLӇXPӝWFKѭѫQJWUuQKLabVIEW 43
&+ѬѪ1* ;ặ<'Ӵ1*0é+ẻ1+QUADROCOPTER
3.1 6ѫÿӗNKӕLWәQJWKӇFӫDKӋWKӕQJ 46
3.2 7KLӃWNӃ FѫNKt 47
3.3 7KLӃWNӃKӋWKӕQJÿLӅXNKLӇQ 51
3.3.1 7D\ÿLӅXNKLӇQ 52
3.3.2 0ҥFKWUXQJWkP 53
3.3.3 Module RF 57
3.3&ҧPELӃQ,08 58
3.3.5 ĈӝQJFѫ%/'&Yj%ӝÿLӅXWӕF(6& 59
3.4 ;k\GӵQJWKXұWWRiQÿLӅXNKLӇQ 61
&+ѬѪ1* .ӂ748Ҧ7+Ӵ&1*+,ӊ0
4.1 ;k\GӵQJEӝOӑF.DOPDQFKRP{KuQKPi\ED\Quadrocopter 64
4.1.1 XӱOờWtQKLӋXFҧPELӃQ,08EұFWӵGR 64
4.1.2 TӕLѭXKyDWKXұWWRiQ.DOPDQ 65
4.1.3 XiFÿӏQKFiFWK{QJVӕYjKRjQFKӍQKEӝOӑF.DOPDQ 66
4.2 &KѭѫQJWUuQKJLiPViWGQJSKҫQPӅPLabVIEW 67
4.2.1 .LӇPWUDYj[ӱOờWtQKLӋXFҧPELӃQ 67
4.2.2 *LiPViWWUҥQJWKiLKRҥWÿӝQJFӫD4XDGURFRSWHU 69
4.3 .ӃWTXҧWKӵFQJKLӋP YjQKұQ[pW 73
4.3.1 ĈiSӭQJOӵFÿҭ\FӫD(6&± Motor 73
ĈiSӭQJFӫDP{KuQKYӟLFiFWK{QJVӕÿLӅXNKLӇQ3,' 77
&+ѬѪ1* .ӂ7/8Ұ1
5.1 1KӳQJNӃWTXҧÿҥWÿѭӧF 84
5.2 1KӳQJNӃWTXҧFKѭDÿҥWÿѭӧF YjELӋQSKiSNKҳFSKөF 85
5.3 +ѭӟQJSKiWWULӇQFӫDÿӅWjL 85
7jLOLӋXWKDPNKҧR 86
3KөOөF$ %ҧQYӁP{KuQK Pi\ED\ Quadrocopter 87
PKөOөF% VLÿLӅXNKLӇQATmega128 88
x
'$1+0Ө&+ẻ1+
+uQK5&+HOLFRSWHU7-rex 600 1
+uQK&өPVZDVKSODWHWUrQFѫFҩXFiQKFӫD+HOLFRSWHU 1
+uQK&өPFiQKTXҥWÿX{LFӫD+HOLFRSWHU 2
+uQKQuadrocopter 2
+uQK1JX\rQOờKRҥWÿӝQJFӫDQuadrocopter 3
+uQK3KkQORҥLYұWWKӇED\ 4
+uQK%UHJXHW- Richet Gyroplane No.1 5
+uQKQuadURFRSWHUFӫD(WLHQQH2HPLFKHQ 5
+uQK ³%ҥFKWXӝFED\´ 6
+uQK&RQYHUWDZLQJV0RGHO$ 6
+uQK6ҧQSKҭP;-3URFӫDKmQJ'UDJDQIO\,QQRYDWLRQV 7
+uQK6ҧQSKҭP0'-FӫDKmQJ0LFURGURQH 8
+uQK0i\WtQKÿӇKLӇQWKӏFiFWK{QJVӕYӅWuQKWUҥQJFӫDPi\ED\ 8
+uQK6ҧQSKҭP$5'URQHFӫDKmQJ3DUURW 9
+uQK6ҧQSKҭP0.%DVLFVHW0(FӫDKmQJ0LNUR.RSWHU 9
+uQK0{KuQKPi\ED\QJKLӋPWKXWҥL6ӣ.KRDKӑF- &{QJQJKӋ 10
+uQK0ӝWFKLӃFPi\ED\ÿӝQJFѫFӫDFkXOҥFEӝP{KuQK 11
+uQKQuadURWRUYjQKyPVLQKYLrQ &ѫÿLӋQWӱĈ+&{QJQJKLӋS+j1ӝL 11
+uQK 5RERWWӵKjQKNLӇXQuadURWRUFӫD+ӑFYLӋQ.ӻWKXұW4XkQVӵ 12
+uQKĈӏQKQJKƭDFiFKѭӟQJFKX\ӇQÿӝQJFӫDQuadrocopter 14
+uQK+RYHU 15
+uQK7KURWWOH 15
+uQK5ROO 16
+uQK3LWFK 16
+uQK2.6 Yaw 17
+uQK+ӋTX\FKLӃX(Yj% 17
+uQK&iFOӵFYjPRPHQWWiFGөQJOrQQuadrocopter 20
+uQK 0RPHQWTXiQWtQKNKӕLKuQKKӝSFKӳQKұW 25
+uQK0{KuQKFiQKTXҥWWURQJWKX\ӃWÿӝQJOѭӧQJ 28
+uQK 7KX\ӃWFѫEҧQYӅFiQKTXҥW 29
+uQK 2.12 +uQKGiQJNKtÿӝQJKӑFFӫDFiQK 31
+uQKĈӝQJFѫ%/'&LQUXQQHU 32
+uQKĈӝQJFѫ%/'&RXWUXQQHU 32
+uQK6ѫÿӗÿҩXGk\ÿӝQJFѫ%/'&Yj(6& 33
xi
+uQK7tQKLӋX3:0ÿLӅXNKLӇQÿѭDYjR(6& 33
+uQK1JX\rQOờWҥRGzQJSKD 34
+uQK 6ѫÿӗFKXӛL[XQJ 35
+uQK 6ѫÿӗPҥFKÿLӋQ(6&GQJSKѭѫQJSKiSFҧPӭQJ%(0) 35
+uQK&iFKWKӭF[ӱOtWtQKLӋXFӫDEӝOӑF 37
+uQK7tQKLӋXWKXÿѭӧFFKѭDÿѭӧFOӑFFӫDPi\ED\ 37
+uQK 0{KuQKKyDEӝOӑF.DOPDQ 38
+uQK&iFEѭӟF[k\GӵQJEӝOӑF.DOPDQ 40
+uQK*LҧQÿӗ%RGHYjSKDFӫDEӝOӑFEұFQKҩW 40
+uQK9tGөVRViQKFiFWtQKLӋXӣQJ}YjR PjX[DQK NӃWTXҧQJ}UDӣ
EӝOӑFEәSKө PjXÿHQ YjӣEӝOӑF.DOPDQ PjXÿӓ 41
+uQK.KҧQăQJNӃWKӧSYӟLFiFSKҫQFӭQJFӫDLabVIEW 42
+uQK)URQW3DQHOYj%ORFN'LDJUDPWURQJPӝWFKѭѫQJWUuQKLabVIEW 43
+uQK)URQWSDQHO 44
+uQK &iFFKӭFQăQJÿLӅXNKLӇQYjFKӍWKӏWURQJ)URQW3DQHO 44
+uQK%ORFN'LDJUDP 45
+uQK&iFKjPWURQJ%ORFN'LDJUDm 45
+uQK0jXVҳFFӫDGk\GӳOLӋXWURQJLabVIEW 45
+uQK6ѫÿӗNKӕLWәQJWKӇFӫDKӋWKӕQJ 46
+uQK2 7KLӃWNӃGQJFҩXKuQKFKRQJFKyQJÿҭ\ SXVKHUSURSHOOHU 47
+uQK7KLӃWNӃGQJFҩXKuQKFKRQJFKyQJNpR WUDFWRUSURSHOOHU 48
+uQK0үXWKLӃWNӃWKӭED 49
+uQK0{SKӓQJӭQJVXҩWFKRFҩXKuQKFKRQJFKyQJÿҭ\ 49
+uQK0{SKӓQJӭQJVXҩWFKRFҩXKuQKFKRQJFKyQJNpR 50
+uQK0{SKӓQJFKX\ӇQYӏFKRFҩXKuQKFKRQJFKyQJÿҭ\ 50
+uQK0{SKӓQJFKX\ӇQYӏFKRFҩXKuQKFKRQJFKyQJNpR 50
+uQK 0{KuQKPi\ED\4XDGURFRSWHUWKӵFWӃ 51
+uQK10 6ѫÿӗNKӕLWD\ÿLӅXNKLӇQ 52
+uQK1 6ѫÿӗQJX\rQOờWD\ÿLӅXNKLӇQ 52
+uQK2 %RDUGÿLӅXNKLӇQ 53
+uQK0ҥFKWUXQJWkPWUrQP{KuQK4XDGURFRSWHU 53
+uQK4 6ѫÿӗNKӕLPҥFKWUXQJWkP 54
+uQK5 6ѫÿӗQJX\rQOờPҥFKWUXQJWkP 55
+uQK6 %RDUGWUXQJWkP 56
+uQK7 %RDUGJLDRWLӃS56 57
+uQK8 0RGXOH5)VӱGөQJWUX\ӅQWK{QJ8$57 57
xii
+uQK9 ,08EұFWӵGRYjJ\URVFRSH/,6<$/ 58
+uQK20 Brushless motor FC2835-10T 59
+uQK21 &iQKTXҥW*:6(3-1060Rx3 59
+uQK2 &iQKTXҥW(33 60
+uQK23 ESC HiModel GX-40A 60
+uQK4 ESC Hobbywing Pentium 30A 61
+uQK5 &ҩXWU~FKӋ ÿLӅXNKLӇQ 61
+uQK6 6ѫÿӗNKӕLWtQKLӋXÿLӅXNKLӇQKRjQFKӍQK 62
+uQK7 6ѫÿӗNKӕLWtQKLӋXÿLӅXNKLӇQKLӋQWҥL 62
HuQK8 *LҧLWKXұWFKѭѫQJWUuQKÿLӅXNKLӇQFKtQK 63
+uQK9HFWRUWUӑQJOӵF[pWWURQJWUөFWӑDÿӝFӫDFҧPELӃQJLDWӕF 64
+uQK%ӝOӑF.DOPDQKRjQFKӍQK 66
+uQK*LDRGLӋQ[ӱOờWtQKLӋXGQJ.DOPDQWUrQ/DE9,(: 67
+uQK6ѫÿӗNKӕL[ӱOờWtQKLӋXGQJ.DOPDQWUrQ/DE9,(: 67
+uQK.KӕL9,9,6$&RQILJXUH3RUW 68
+uQK.KӕL9,9,6$5HDG 68
+uQK.KӕL9,9,6$:ULWH 68
+uQK.KӕL6SUHDGVKHHW6WULQJ7R$UUD\ 68
+uQK 6ѫÿӗNKӕL0DWKVFULSW1RGH 68
+uQK*LDRGLӋQJLiPViWWUҥQJWKiL4XDGURFRSWHU 69
+uQK*LDRGLӋQJLiPViWWUҥQJWKiL4XDGURFRSWHUEҵQJKuQKҧQK' 70
+uQK%ORFN'LDJUDPFKѭѫQJWUuQKJLiPViWWUҥQJWKiL 71
+uQK&KѭѫQJWUuQKNKӕL$UWLILFLDO+RUL]RQ 71
+uQK&KѭѫQJWUuQKNKӕL'3LFWXUH 72
+uQK0ӝWFKѭѫQJWUuQK/DE9,(:KLӇQWKӏP{KuQKYұWWKӇ' 72
+uQK0{KuQKNLӇPWUDOӵFÿҭ\ÿӝQJFѫ 73
+uQKĈӗWKӏÿiSӭQJOӵFÿҭ\ FӫDÿӝQJFѫ 76
+uQK8 ĈӗWKӏÿiSӭQJOӵFÿҭ\ 2 FӫDÿӝQJFѫ 76
+uQK 6ѫÿӗNKӕLEӝÿLӅXNKLӇQ3,'YӟLFiFNKkXWӍOӋWtFKSKkQÿҥRKjP 77
+uQKĈӗWKӏÿiSӭQJ3'FӫDJyFSLWFKYӟLWiFÿӝQJ 78
+uQK ĈӗWKӏÿiSӭQJ3'FӫDJyFUROOYӟLWiFÿӝQJ 79
+uQKĈӗWKӏÿiSӭQJ3,'FӫDJyFSLWFK 80
+uQKĈӗWKӏÿiSӭQJ3,'FӫDJyFUROO 81
+uQK7KӵFQJKLӋPÿiSӭQJÿLӅXNKLӇQJyFYӟLP{KuQKWUrQJLiÿӥ 82
+uQK5 1KӳQJKuQKҧQKED\WKӵFWӃFӫD P{KuQK4XDGURFRSWHU 83
xiii
'$1+0Ө&%Ҧ1*
%ҧQJ0{WҧFiFFKkQNӃWQӕLFӫDPRGXOH5) 57
%ҧQJ&iFWK{QJVӕNӻWKXұWFӫDFҧPELӃQ 58
%ҧQJ7K{QJVӕNӻWKXұWFӫDÿӝQJFѫ)&-10T 59
%ҧQJ7K{QJVӕNӻ WKXұWFӫD(6&HiModel GX-40A 60
%ҧQJ7K{QJVӕNӻ WKXұWFӫD(6&+REE\ZLQJ3HQWLXPA 61
%ҧQJ%ҧQJWKDPFKLӃXÿiSӭQJOӵFÿҭ\ FӫDÿӝQJFѫ 74
%ҧQJ%ҧQJWKDPFKLӃXÿiSӭQJOӵFÿҭ\ FӫDÿӝQJFѫ 75
xiv
&ẩ&48<ѬӞ& 9ơ+Ҵ1*6Ӕ/,ầ148$1
I. &iFTX\ѭӟF:
.ờKLӋX ĈѫQYӏ 0{Wҧ
X m YӏWUtGjLWKHRWUөFxE
Y m YӏWUtGjLWKHRWUөFyE
Z m YӏWUtGjLWKHRWUөFzE
ij rad JyFUROO [RD\TXDQKWUөF;
ș rad JyFSLWFK [RD\TXDQKWUөF<
ȥ rad JyF\DZ [RD\TXDQKWUөF=
u m/s YұQWӕFGjLWKHRWUөFxB
v m/s YұQWӕFGjLWKHRWUөFyB
w m/s YұQWӕFGjLWKHRWUөFzB
p rad/s YұQWӕFJyF WKHRWUөFxB
q rad/s YұQWӕFJyF WKHRWUөFyB
r rad/s YұQWӕFJyF WKHRWUөFzB
īE m YHFWRUYӏWUtGjLWKHRKӋTX\FKLӃXE
īÚ E m YHFWRUYұQWӕFGjLWKHRKӋTX\FKLӃXE
īÚÚE m/s2 YHFWRUJLDWӕFGjLWKHRKӋTX\FKLӃX(
ĬE rad YHFWRUYӏWUtJyFWKHRKӋTX\FKLӃXE
ĬÚ E rad/s YHFWRUYұQWӕFJyFWKHRKӋTX\FKLӃXE
rad/s2 YHFWRUJLDWӕFJyFWKHRKӋTX\FKLӃX(
V E m/s vector vұQWӕFGjLWKHRKӋTX\FKLӃXE
V B m/s vector YұQWӕFGjLWKHRKӋTX\FKLӃXB
ሶ B m/s2 vHFWRUJLDWӕF GjLWKHRKӋTX\FKLӃXB
ȦB rad/s vector YұQWӕFJyFWKHRKӋTX\FKLӃXB
ɘሶ rad/s2 YHFWRUJLDWӕFJyFWKHRKӋTX\FKLӃX%
ȟ - YHFWRUYӏWUtWәQJTXiWWKHRKӋTX\FKLӃXE
ȟÚ - YHFWRUYұQWӕFWәQJTXiWWKHRKӋTX\FKLӃX(
Ȟ - vector vұQWӕFWәQJTXiW theo KӋTX\FKLӃX%
ȞÚ - YHFWRUJLDWӕFWәQJTXiWWKHRKӋTX\FKLӃX%
ȗ - vector vұn tӕc tәQJTXiWWKHRKӋTX\FKLӃX+
ȗÚ - YHFWRUJLDWӕFWәQJTXiWWKHRKӋTX\FKLӃX+
xv
ȁ - YHFWRUOӵFWәQJTXiW
FE N YHFWRUOӵFtheo KӋTX\FKLӃX(
FB N YHFWRUOӵFtheo KӋTX\FKLӃX%
EGF N YHFWRUOӵFKҩSGүQWKHRKӋTX\FKLӃX(
B
GF N YHFWRUOӵFKҩSGүQWKHRKӋTX\FKLӃX%
GB (ȟ) - YHFWRUKҩS GүQWKHRKӋTX\FKLӃX%
GH - YHFWRUKҩSGүQWKHRKӋTX\FKLӃX+
UB - YHFWRUFKX\ӇQÿӝQJ WKHRKӋTX\FKLӃX%
U1 N OӵFQkQJWKHRKӋTX\FKLӃX%
U2 Nm PRPHQW[RҳQUROOWKHRKӋTX\FKLӃX%
U3 Nm PRPHQW[RҳQSLWFKWKHRKӋTX\FKLӃX%
U4 Nm PRPHQW[RҳQ\DZWKHRKӋTX\FKLӃX B
ɒB Nm moment [RҳQtheo KӋTX\FKLӃX%
RĬ - PDWUұQ[RD\
TĬ - PDWUұQFKX\ӇQYӏ
JĬ - PDWUұQWәQJTXiW
EB - PDWUұQFKX\ӇQÿӝQJ WKHRKӋTX\FKLӃXB
EH (ȟ) - PDWUұQFKX\ӇQÿӝQJ WKHRKӋTX\FKLӃX H
MB - PDWUұQTXiQWtQKKӋWKӕQJWKHRKӋTX\FKLӃX%
MH - ma trұQTXiQWtQKKӋ thӕng WKHRKӋTX\FKLӃu H
OB (Ȟ) - PDWUұQFiQKTXҥWKӗLFKX\ӇQ WKHRKӋTX\FKLӃXB
OH (ȗ) - PDWUұQFiQKTXҥWKӗLFKX\ӇQ WKHRKӋTX\FKLӃX H
CB (Ȟ ) - PDWUұQ&RULROLVKѭӟQJWkPWKHRKӋTX\FKLӃX%
CH (ȗ) - PDWUұQ&RULROLVKѭӟQJWkPWKHRKӋTX\FKLӃX H
S(...) - PDWUұQÿӕL[ӭQJOӋFK
rad/s YHFWRUWӕFÿӝFiQKTXҥW
π1 rad/s WӕFÿӝFiQKTXҥWWUѭӟF
π 2 rad/s WӕFÿӝFiQKTXҥWSKҧL
π 3 rad/s WӕFÿӝFiQKTXҥWVDX
π 4 rad/s WӕFÿӝFiQKTXҥWWUiL
TMT N OӵFQkQJWKHRWKX\ӃWÿӝQJOѭӧQJ
TBET N OӵFQkQJWKHRWKX\ӃWFiQKTXҥW
xvi
QBET Nm PRPHQW[RҳQFӫDFiQKTXҥW
ሶ A kg/s ÿӝWKD\ÿәL FӫD NKӕLOѭӧQJNK{QJNKtTXDÿƭDTXҥW
p1 Pa iSVXҩWNK{QJNKtWiFGөQJWUӵFWLӃSSKtDWUrQÿƭD
p2 Pa iSVXҩWNK{QJNKtWiFGөQJWUӵFWLӃSGѭӟLWUrQÿƭD
p Pa iSVXҩWFұQGѭӟL
p- Pa iSVXҩWFұQWUrQ
v1 m/s YұQWӕFNK{QJNKtWiFGөQJWUӵFWLӃSSKtDWUrQÿƭD
v2 m/s YұQWӕFNK{QJNKtWiFGөQJWUӵFWLӃSGѭӟLWUrQÿƭD
vI m/s YұQWӕFNK{QJNKtQJD\WҥLÿƭDTXҥW
v m/s YұQWӕFFұQGѭӟL
v- m/s YұQWӕFFұQWUrQ
vV m/s YHFWRUYұQWӕFGRFKX\ӇQÿӝQJFӫDGzQJNKtFӫDFiQKTXҥW
vH m/s YHFWRUYұQWӕFGRYұQWӕFJyFFӫDOѭӥi FiQKTXҥt
ZP rad/s YұQWӕFJyFFӫDFiQKTXҥW
dDBET N/m YLSKkQOӵFNpR
dLBET N/m YLSKkQ OӵFQkQJ
dFBET N/m YLSKkQOӵFNKtÿӝQJKӑc
dTBET N/m YLSKkQ OӵFNKtÿӝQJKӑFWKHRSKѭѫQJÿӭQJ
dHBET N/m YLSKkQOӵFNKtÿӝQJKӑFWKHRSKѭѫQJQJDQJ
TI rad JyFKӧSJLӳDÿѭӡQJQJDQJYӟLÿѭӡQJFKLDFiQKTXҥW
TIo rad KҵQJVӕ]HURJyFWҩQ
TItw rad JyF[RҳQFӫDJyFWҩQ
ĭI rad JyFWҩQOѭXOѭӧQJGzQJNKtYjR
II. &iFKҵQJVӕ
.ờKLӋX ĈѫQYӏ *LiWUӏ 0{Wҧ
a rad-1 2 ʌ JyFQkQJ
A m2 75.5 x 10-3 GLӋQWtFKÿƭDFiQKTXҥW
b N s2 54,2 x 10-6 KӋVӕÿҭ\
bBET N s2 54,2 x 10-6 KӋVӕÿҭ\WKHRWKX\ӃWFiQKTXҥW
bMT N s2 54,2 x 10-6 KӋVӕÿҭ\WKHRWKX\ӃWÿӝQJOѭӧQJ
c m 0.02 FKLӅXGjLWUXQJEuQKÿѭӡQJFKLDFiQKTXҥW
CD - 0.05 KӋVӕNpR GUDJ
CL - 0.05 KӋVӕQkQJ(lift)
xvii
d N m s2 1.1 x 10-6 KӋVӕNpR
g m/s 2 9.81 gia tӕFWUӑQJWUѭӡQJ
TPJ Nms
2 104x10-6 PRPHQWTXiQWtQKTXD\WәQJFӝQJÿӕLYӟLWUөF
FiQKTXҥW
l m 0.22 NKRҧQJ FiFK Wӯ WkP QuadURFRSWHU ÿӃQ WkP
FiQKTXҥW
m kg 1.365 NKӕLOѭӧQJQuadrocopter
NB - 2 VӕFiQK EODGH FӫDFiQKTXҥW
UA kg/m3 29 PұWÿӝNK{QJNKt
1
&+ѬѪ1*, 7Ә1*48$1
1.1 6ӵNKiFnhau giӳD+HOLFRSWHUYjQuadrocopter [1]
7UӵF WKăQJ WK{QJ WKѭӡQJ +HOLFRSWHU Yj WUӵF WKăQJ EӕQ FKRQJ FKyQJ
(Quadrocopter, Quadrotor hay QuadFRSWHU ÿѭӧF[ӃSYjR ORҥLPi\ED\FyNKҧQăQJ
FҩWFiQKYjKҥ FiQKWKҷQJÿӭQJKD\FzQJӑL972/ 9HUWLFDO7DNH2IIDQG/DGLQJ Fҧ
KDLORҥLQj\ÿӅXFyNKҧQăQJGLFKX\ӇQWKHRKѭӟQJ OrQ-[XӕQJWUѭӟF-VDXWUiL-SKҧL
NKҧQăQJÿӭQJ\rQWҥLFKӛ KRYHU PjPi\ED\FiQKEҵQJNK{QJFy7X\QKLrQ, giӳD
KDLORҥLQj\FyQKӳQJÿLӇPNKiFQKDXFѫEҧQ QKѭ sau:
1.1.1 9͉N͇WF̭XF˯NKtYjQJX\rQOờKR̩Wÿ͡QJ
6RYӟL ORҥLP{KuQKWUӵFWKăQJWK{QJWKѭӡQJFyNӃWFҩXFѫNKtUҩWSKӭFWҥSYj
QKLӅXFKLWLӃWQKӓJLDF{QJWLQK[ҧRWKuQuadURFRSWHUÿѫQJLҧQKѫQUҩWQKLӅXORҥLQj\
FKӍJӗPPRWRUÿLӋQJҳQFiQKTXҥWÿѭӧFÿһWӣEӕQJyFFӫDPӝWKuQKYX{QJ WURQJ
NKLWUӵFWKăQJP{KuQKWK{QJWKѭӡQJEDRJӗPKӋWKӕQJÿƭD[RD\ VZDVKSODWH URWRU
KHDGYjFiFFҫQ DUPURG ÿӇWKD\ÿәLJyFWҩQ SLWFK FӫDFiQKTXҥWFKtQKWK{QJTXD
FiFVHUYRQKӓ
+uQK5&+HOLFRSWHU7-rex 600
+uQK&өPVZDVKSODWHWUrQFѫFҩXFiQKFӫD+HOLFRSWHU
1JRjLUD WUӵFWKăQJ WK{QJWKѭӡQJFzQFyKӋWKӕQJFiQKTXҥWÿX{LÿӇOjPWULӋW
WLrXPRPHQWGRFiQKTXҥWFKtQKJk\UDĈLӅXQj\WLrXWӕQÿӃQQăQJ OѭӧQJWәQJ
FӝQJFӫDPi\ED\1ăQJOѭӧQJQj\NK{QJVLQKF{QJÿӇQkQJPi\ED\PjFKӍWULӋWWLrX
PRPHQW[RҳQFKRQrQÿk\OjQăQJOѭӧQJY{tFKOjPJLҧPKLӋXVXҩWFӫDPi\ED\
2
+ѫQQӳDFiFKӋWKӕQJEiQKUăQJÿӇWUX\ӅQÿӝQJWӯPRWRUFKtQKVDQJFiQKTXҥW
FKtQKYjFiQKTXҥWÿX{LFNJQJUҩWSKӭFWҥS
+uQK3 &өPFiQKTXҥWÿX{LFӫDHelicopter
ĈӕLYӟLQuadURFRSWHUNӃWFҩXFKӍJӗPPRWRUÿLӋQJLӕQJQKDXFyOҳSFiQKTXҥW
ÿѭӧFÿһWӣJyFKuQKYX{QJYjFiQKTXҥWFyWKӇJҳQWUӵFWLӃSKD\WK{QJTXDWUX\ӅQ
ÿӝQJEiQK UăQJPRWRUQj\ÿѭӧFFKLDUDOjPFһS WUѭӟF-VDXWUiL-SKҧL
+uQKQuadrocopter
&KLӅXTXD\FӫDPRWRUWURQJPӛLFһSOjJLӕQJQKDXQKѭQJFKLӅXTXD\FӫDFһS
WUѭӟF-VDXYjWUiL-SKҧLOjQJѭӧFQKDX9tGө FһSWUѭӟF-VDXTXD\FQJFKLӅXNLPÿӗQJ
Kӗ WKu FһS WUiL-SKҧL TXD\ QJѭӧF FKLӅX NLP ÿӗQJ Kӗ 9j FiQK TXҥW GQJ WURQJ
QuadURFRSWHUSKҧLOjORҥLQJѭӧFQKDXPӝWORҥLTXD\FQJFKLӅXYjPӝWORҥLQJѭӧF
FKLӅXNLPÿӗQJKӗ7K{QJWKѭӡQJGQJORҥLFyJyFWҩQ FӕÿӏQK IL[HGSLWFK
0өF ÿtFK FӫD YLӋF Qj\ Oj ÿӇ WULӋW WLrXPRPHQW [RҳQ GR WӯQJ FһS Jk\ UD 7X\
QKLrQQJRjLNKҧQăQJWҥRPRPHQWWULӋWWLrXQKDXPRWRUQj\NKLTXD\ÿӅXWҥROӵF
QkQJFKRPi\ED\NK{QJQKѭKӋWKӕQJKӋWKӕQJÿX{LFӫDWUӵFWKăQJWK{QJWKѭӡQJ
NK{QJWҥRÿѭӧFOӵFQkQJPjFKӍQKҵPOjPWULӋWWLrXPRPHQWFӫDFiQKTXҥWFKtQKĈk\
OjPӝWѭXÿLӇPOӟQFӫDQuadrocopter.
3
1JRjLPRWRUYjFiQKTXҥWUDWKuQuadURFRSWHUNK{QJFzQPӝWFKLWLӃWFKX\ӇQ
ÿӝQJQjRNKiFFKRQrQÿk\OjPӝWOӧLÿLӇPNKLVӱGөQJYjNK{QJFҫQSKҧLWKD\WKӃ
FiFFKLWLӃWQj\NKLEӏUӟWKD\YDFKҥPQKѭ+HOLFRSWHU
0ӝW\ӃXWӕUҩWTXDQWUӑQJQӳDOjGRÿѭӡQJNtQKFiQKTXҥWFӫDQuadURFRSWHUQKӓ
KѫQQKLӅXVRYӟL+HOLFRSWHUFKRQrQYLӋFED\WKӱQJKLӋPKD\ED\WURQJQKjFNJQJGӉ
GjQJYjWKXұQOӧLNK{QJJk\QJX\KLӇPWӟLQJѭӡL[XQJTXDnh.
1JX\rQOờKRҥWÿӝQJFӫDORҥLQuadURFRSWHUQj\FNJQJUҩWÿѫQJLҧQ
+uQK5 1JX\rQOờKRҥWÿӝQJFӫDQuadrocopter
x WUѭӟF-sau: ÿӇÿLYӅErQWUѭӟFPRWRUSKtD WUѭӟFJLҧPWӕFVRYӟLPRWRUVDXYj
QJѭӧFOҥLÿӇÿLYӅSKiLVDXPRWRUVDXJLҧPWӕFVRYӟLPRWRUWUѭӟF
x WUiL-SKҧL: ÿӇÿLYӅErQWUiLPRWRUWUiLJLҧPWӕFVRYӟLPRWRUSKҧLYjQJѭӧFOҥL
ÿӇÿLYӅErQSKҧLPRWRUSKҧLJLҧPWӕFVRYӟLPRWRUWUiL
x OrQ-[XӕQJ: tăQJWӕFKD\JLҧPWӕFÿӗQJWKӡL4 PRWRUVӁOjPWăQJOӵFQkQJKD\
JLҧPOӵFQkQJ ÿӇ ED\OrQKD\ [XӕQJ
x [RD\ PXӕQ[RD\FQJFKLӅXNLPÿӗQJKӗWKuFһSPRWRUTXD\FQJFKLӅXNLP
ÿӗQJKӗ YtGөWUѭӟF-VDX VӁTXD\FKұPKѫQFһSPRWRUTXD\QJѭӧFFKLӅXNLPÿӗQJKӗ
YtGөWUiL-SKҧL 1JѭӧFOҥLPXӕQ[RD\QJѭӧFFKLӅXNLPÿӗQJKӗWKuFһSPRWRUTXD\
QJѭӧFFKLӅX NLPÿӗQJKӗ WUiL-SKҧL VӁTXD\FKұPKѫQFһSPRWRU TXD\FQJFKLӅX
NLPÿӗQJKӗ WUѭӟF-sau).
1.1.2 9͉WtQKQăQJÿL͉XNKL͋Q
;pWYӅPһWQj\WKuQuadURFRSWHUÿzLKӓLKӋWKӕQJPҥFKÿLӅXNKLӇQSKӭFWҥSKѫQ
YuSKҧL VӱGөQJFiF FҧPELӃQTXiQ WtQKQKѭJ\UR (gyroscope) YjJLD WӕF (accelero-
meter) ÿӇWtQKWRiQÿѭӧFJyFQJKLrQJYjYұQWӕFTXD\WKHREDWUөFÿӇJLӳWKăQJEҵQJ
QӃXNK{QJVӁNK{QJWKӇQjRÿLӅXNKLӇQÿѭӧF7\WKHRKӋWKӕQJPҥFKÿLӅXNKLӇQWӕW
WӟLPӭFQjRVӁTX\ӃWÿӏQKWӟLNKҧQăQJÿLӅXNKLӇQQuadURFRSWHUGӉKD\NKy
1KѭQJ NKL ÿm ÿѭӧF WKLӃW NӃ WӕWPӝW QJѭӡL FKѭD WӯQJ ÿLӅX NKLӇQ TXD OҫQ QjR
FNJQJ Fy WKӇ ÿLӅX NKLӇQ ÿѭӧFQuadURFRSWHUPӝW FiFKGӉ GjQJ7KHRQKѭQJX\rQ Oờ
4
KRҥWÿӝQJÿmÿӅFұSWӟLӣWUrQWKuÿLӅXNKLӇQQuadURFRSWHUWKӵFFKҩWFKӍOjÿLӅXNKLӇQ
WӕFÿӝ FӫDPRWRUÿӇFyÿѭӧFFKX\ӇQÿӝQJPRQJPXӕQ
ĈӕL YӟL+HOLFRSWHU YLӋF ÿLӅX NKLӇQ EDR JӗP UҩW QKLӅX \ӃX Wӕ ÿLӅX NKLӇQ FiF
VHUYRÿӇWKD\ÿәLJyFWҩQ FӫDFiQKTXҥWFKtQKWKD\ÿәLWӕFÿӝFiQKTXҥWFKtQKWKD\
ÿәL WӕFÿӝKRһFJyF WҩQ FӫDFiQKTXҥWÿX{LÿӇEҿ OiL WKD\ÿәLPһWSKҷQJTXD\FӫD
FiQKTXҥWFKtQKYY/RҥLQj\UҩWNKyÿLӅXNKLӇQFҫQSKҧLFyQKLӅXNӻQăQJYjNLQK
QJKLӋPĈӇFyWKӇÿLӅXNKLӇQÿѭӧFP{KuQKORҥLQj\QJѭӡLÿLӅXNKLӇQSKҧLPҩWPӝW
WKӡLJLDQNKiOkXÿӇOjPTXHQYjWKѭӡQJWKuSKҧLWұSOiLWUrQFiFSKҫQPӅPP{SKӓQJ
WUѭӟFPӟLÿӫWӵWLQFҫPOiL1ӃXNK{QJUӟWPi\ED\OjPӝWÿLӅXUҩWGӉ[ҧ\UD
1.2 7uQKKuQKQJKLrQFӭXWKXӝFOƭQKYӵFÿӅWjL
1.2.1 /͓FKV͵SKiWWUL͋QFͯDPi\ED\Quadrocopter
CyWKӇSKkQORҥLYұWWKӇED\UDWKjQKFiFORҥLQKѭVDX
+uQK1.6 3KkQORҥLYұWWKӇED\
&KLӃFQuadrocopter ÿҫXWLrQWUrQWKӃJLӟLUDÿӡLQăP GRDQKHPQKjNKRD
KӑFQJѭӡL3KiS/RXLVYj -DFTXHV%UHJXHW FQJJLiRVѭ Charles Richet KӧS WiF FKӃ
WҥR1yÿѭӧFPDQJWrQOj³%UHJXHW± Richet Gyroplane No.1´<rXFҫX ÿѭӧFÿѭDUDOj
QyFyWKӇ FҩWFiQKNKӓLPһWÿҩWYӟLSKLF{QJ0ӝWÿӝQJFѫ[y-ODQKÿѭӧFVӱGөQJ
ÿӇTXD\FiQK TXҥW0ӛLFiQKTXҥWFyEҧQFiQK+ӋWKӕQJGk\ÿDLYjSX-OLÿѭӧFJҳQ
OrQQKҵPWUX\ӅQÿӝQJWӯÿӝQJFѫFKRFiFFiQK%ӝNKXQJFӫD FKLӃFQuadrocopter Qj\
OjP Wӯ FiF ӕQJ WKpS 7әQJ WUӑQJ OѭӧQJ FӫD Qy YjR NKRҧQJ 75Kg /ҫQ ED\ WKӱ
QJKLӋPÿҫXWLrQGLӉQUD WҥL'RXDL- 3KiSYjRQăP QyÿmFyWKӇQkQJFDRNKӓL
PһWÿҩW.5m.
Quadro-
copter
5
+unh 1.7 Breguet- Richet Gyroplane No.1
ĈӃQ QăP (WLHQQH 2HPLFKHQ ÿm FKӃ WҥR PӝW FKLӃFQuadrocopter YӟL 8
FiQKTXҥWOLQKKRҥWQKҵPÿLӅXNKLӇQYjWҥROӵFÿҭ\%DQÿҫXQyÿѭӧFJҳQWKrPPӝW
NKtFҫXÿӇQkQJYjJLӳәQÿӏQKFKRFӛPi\Qj\1ăP 22HPLFKHQÿmWKjQKF{QJ
NKL FKRFKLӃFQuadrocopter ED\PjNK{QJFҫQ Vӵ WUӧ JL~SFӫDNKt FҫX 6DXÿy Qy
NK{QJEDRJLӡÿѭӧFVӱGөQJQӳD.
+uQK1.8 QuadURFRSWHUFӫD(WLHQQH2HPLFKHQ
6
&NJQJWURQJQăP WLӃQVƭ*HRUJHGH%RWKH]DWYj,YDQ-HURPHÿmWKjQKF{QJ
NKLWKLӃWNӃ FKLӃFQuadrocopter NKәQJOӗSKөFYөFKRTXkQÿӝL0ӻ&ӛPi\Qj\ÿm
ÿѭӧFÿLӅXNKLӇQEҵQJFiFKWKD\ÿәLÿѫQOҿKRһFFQJO~FFiFJyF[RҳQFӫDFiQKTXҥW
1JRjL UDQyFzQÿѭӧFJҳQ WKrPFiQKTXҥW ORҥLQKӓÿӇ WUӧJL~SÿLӅXNKLӇQ&KLӃF
Quadrocopter Qj\ÿѭӧFÿһWWrQOj´%ҥFKWXӝFED\´1KѭQJGӵiQQj\EӏKӫ\EӓQJD\
OұSWӭFYuNKҧQăQJED\WKҩSJLiWKjQKFDR
+uQK ³%ҥFKWXӝFED\´
ĈӃQQăP1956, Convertawings lҫQQӳD OjPVӕQJOҥL tKLӃWNӃ WUӵFWKăQJ FiQK
TXҥWÿmÿѭӧFWKӱQJKLӋPQăP EӣL Oemichen WҥL 3KiS Yj G. de Bothezat WҥL 0ӻ.
BӕQ FiQKTXҥW FӫD FKLӃFWUӵFWKăQJ Qj\ ÿѭӧF JҳQNӃW theo WӯQJFһSWUrQWKDQKQӕL
song song. &ѫFKӃ NLӇPVRiW Y{FQJ ÿѫQJLҧQ EҵQJFiFK WKD\ÿәL OӵFÿҭ\ JLӳD FiF
FiQKTXҥW. 1ăQJOѭӧQJ ÿѭӧFFXQJFҩS EӣL hai ÿӝQJFѫWUX\ӅQÿӝQJWӟL KӋWKӕQJ FiQK
TXҥW EҵQJ Gk\ÿDL FKӳ9. 0i\ED\Fy EDEiQK ÿiS YӟL hai EiQKVDX Yj PӝW EiQKWUѭӟF
Fy WKӇ xoay ÿѭӧF. &KX\ӃQED\ÿѭӧFWKӵFKLӋQWKjQKF{QJYjRWKiQJQăP WҥL
0ӻ7X\QKLrQGӵiQQj\ÿmVӟPEӏFKҩPGӭWGRNK{QJQKұQÿѭӧFÿѫQÿһWKjQJ
+uQKConvertawings Model A
7ӯÿyFiFFҩXKuQKFӫD Pi\ED\ QuadURFRSWHUNK{QJFzQÿѭӧFFK~ờQKѭWUѭӟF
0mL FKR ÿӃQ QKӳQJ QăP JҫQ ÿk\, Quadrocopter PӟL ÿѭӧF TXDQ WkP WUӣ OҥL vu NKҧ
QăQJӭQJGөQJUҩWOӟQWURQJOƭQKYӵFWKLӃWEӏ bay P{KuQK. [14]
7
1.2.2 7uQKKuQKQJKLrQFͱXͧQ˱ͣFQJRjL
9uWtQKFKҩWÿѫQJLҧQWURQJNӃWFҩXFѫNKtYjWtQKOLQKÿӝQJWURQJYLӋFÿLӅXNKLӇQ
FNJQJ QKѭ WLӅP QăQJ ӭQJ GөQJ UҩW OӟQ YjR WKӵF WӃ FӫD P{ KuQK ORҥL Qj\ Pj
Quadrocopter ÿm Yj ÿDQJ ÿѭӧF QKLӅX KmQJ WUrQ WKӃ JLӟL QJKLrQ FӭX SKiW WULӇQ WUӣ
WKjQKVҧQSKҭPWKѭѫQJPҥL
6DXÿk\[LQÿѭӧFJLӟLWKLӋXPӝWYjLVҧQSKҭPÿLӇQKuQK
a6̫QSḴP;-3URFͯD'UDJanfly Innovations [1]
+uQK11 6ҧQSKҭP;-3URFӫDKmQJ'UDJDQIO\Innovations
&iFWK{QJVӕNӻWKXұW
- &yWKӇQkQJÿѭӧFWӕLÿDJ
- ĈѭӧFÿLӅXNKLӇQEҵQJEӝY{WX\ӃQ NrQK)0 3&0
- .KXQJEҵQJFDUERQ
- 9ұQKjQKEҵQJSLQP$K9
- 0DQJFDPHUDÿӇTXDQViWFKөSNK{QJҧQK
- 7KӡLJLDQED\SK~W
- *Liã
7X\QKLrQYLӋFÿLӅXNKLӇQ ORҥLPi\ED\Qj\SKө WKXӝFQKLӅXYjRNӻQăQJFӫD
QJѭӡLÿLӅXNKLӇQYjFҫQWKӡLJLDQÿӇOjPTXHQYuNK{QJFyKӋWKӕQJWӵFkQEҵQJYj
FiFFҧPELӃQFҫQWKLӃWNKiF
E6̫QSḴP0'-FͯDKmQJ0LFURGURQH [1]
Ĉk\Oj PӝWVҧQSKҭPFӵFNǤFKX\rQQJKLӋSYjQyFyWrQJӑLOj972/$80$9
(Vertical Take Off and Landing Autonomous Unmanned Micro Aerial Vehicle) hay
Pi\ ED\ VLrX QKӓ Wӵ ÿӝQJ FҩW FiQK Yj Kҥ FiQK WKҷQJ ÿӭQJ /RҥL Qj\ Fy KӋ WKӕQJ
AAHRS ( Altitude and Attitude and HHDGLQJ5HIHUHQFH6\VWHP KD\FzQJӑLKӋWKӕQJ
WKDPFKLӃXÿӝFDRJyFQJKLrQJYjKѭӟQJÿѭӧF WUDQJEӏFiF ORҥLFҧPELӃQJLD WӕF
J\URFҧPELӃQWӯWUѭӡQJYjQKLӋWÿӝFҧPELӃQiSVXҩWFҧPELӃQÿӝҭP1JRjLUDFzQ
FyNKҧQăQJED\WKHROӝWUuQKFjLÿһWVҹQQKӡWUDQJEӏWKLӃWEӏÿӏQKYӏWRjQFҫX*36
MD4-ÿѭӧFWUDQJEӏFDPHUDÿӇWKӵFKLӋQFKөSNK{QJҧQKTXDQViWWKHRG}L
KD\ WULQK WKiP WUrQNK{QJ&iFSKө WQJNKiFNqP WKHREDRJӗPKӝSÿӵQJEӝ WKX
8
SKiWWtQKLӋXYLGHRYjGӳOLӋXPi\WtQKÿӇKLӇQWKӏFiF WK{QJVӕYӅWuQKWUҥQJFӫDPi\
ED\FNJQJQKѭFiFWtQKLӋXFҧPELӃQFiFJyFQJKLrQJGӳOLӋX*36ô
Khung MD4-WҩWFҧÿӅXOjPEҵQJFDUERQYuWKӃUҩWQKҽYjFKӏXYDÿұSUҩWWӕW
QJRjLUDGROjPEҵQJFDUERQQrQNKXQJFӫD0'-KRҥWÿӝQJQKѭPӝWYӓEӑFFy
NKҧQăQJFKӕQJFiFORҥLQKLӉXÿLӋQWӯ
%ҵQJFiFKVӱGөQJPRWRUFyVӕYzQJTXD\WӕLÿDYzQJSK~WQrQÿӝӗQUҩW
WKҩS G%$#P UҩWWKtFKKӧSFKRPөFÿtFKWULQKWKiPKD\TXDQViWWUrQNK{QJ
PjNK{QJEӏSKiWKLӋQĈһFWtQKDQWRjQFӫD0'-QKӡNKҧQăQJWUiQKEӏUӟWYjWӵ
ÿӝQJKҥFiQKDQWRjQNKLSLQJҫQKӃWKD\OjPҩWWtQKLӋXY{WX\ӃQÿLӅXNKLӇQ
1JXӗQÿLӋQ OjSLQ/LSR9P$K7\ WKXӝFYjR WҧLPDQJ WKHR WӕLÿD
J JLyQKLӋWÿӝPjWKӡLJLDQED\FӫD0'-FyWKӇOrQWӟLSK~W *Li
+uQK12 6ҧQSKҭP0'-FӫDKmQJ0LFURGURQH
+uQK13 0i\WtQKÿӇKLӇQWKӏFiFWK{QJVӕYӅWuQKWUҥQJFӫDPi\ED\
c6̫QSḴP FͯD$5'URQHFͯDKmQJ Parrot
Ĉk\OjVҧQSKҭPSKөFYө PөFÿtFKJLҧLWUtFKҥ\WUrQӭQJGөQJFӫDL3KRQH
AR.'URQHVӱGөQJSLQ/L-LRQQӃXÿѭӧFVҥFÿҫ\WKuQyFyWKӇED\WURQJYzQJ
SK~W3KҫQWKkQFӫDQyUҩWQKӓ, ÿѭӧFOjPWӯVӧLFDUERQYj[ӕSÿӇJLҧPWUӑQJOѭӧQJ
$5'URQHFKӍQһQJJUDP
&KLӃFPi\ED\P{KuQKQj\FyFDPHUD PӝWÿһWSKtDWUѭӟFYjPӝWӣ brQGѭӟL
NӃWQӕLWUӵFWLӃSYӟLÿLӋQWKRҥLL3KRQHTXDVyQJZLIL1KӳQJKuQKҧQKWӯFDPHUDWUrQ
Pi\ED\VDXÿyVӁKLӇQWKӏWUrQPjQKuQKL3KRQHJL~SQJѭӡLGQJÿLӅXNKLӇQGӉGjQJ
YjDQWRjQKѫQ
9
1JRjL UD $5'URQH GQJ ӭQJ GөQJ WK{QJ WLQ NK{QJ JLDQ WKӵF Augmented
5HDOLW\ QKӡYұ\QJѭӡLÿLӅXNKLӇQPӟLFyWKӇQJKLrQJL3KRQHÿӇÿLӅXKѭӟQJFKRQy
PjNK{QJSKҧLGQJQ~WEҩP
$5'URQHFyJLiEiQ WҥL0ӻ
+uQK14 6ҧQSKҭP$5'URQHFӫDKmQJ3DUURW
d6̫QSḴP FͯDKmQJ MikroKopter [13]
+uQK15 6ҧQSKҭP 0.%DVLFVHW0(FӫDKmQJ0LNUR.RSWHU
1KӳQJPi\ED\QKLӅXÿӝQJFѫ PXOWL-URWRU FӫDKmQJ0LNUR.RSWHUFyÿӝFӭQJ
YӳQJYjÿӝәQÿӏQKWKXӝFYjREұFQKҩWQKӡVӱGөQJEӝFkQEҵQJÿLӋQWӱFKXҭQJLDR
WLӃSWӕFÿӝFDR,&
6ӱGөQJÿӝQJFѫ5R[[\YjÿӝQJFѫ0.F{QJQJKӋÿӝFTX\ӅQFӫD0LNUR.RSWHU
YұQKjQKrPPѭӧWtWJk\QKLӉXOrQFiFFҧPELӃQQkQJFDRÿӝәQÿӏQKÿӗQJWKӡLWLrX
WӕQtWÿLӋQQăQJNpRGjLKѫQWKӡLJLDQWKӵFKLӋQFKX\ӃQED\
1JRjLQuadURFRSWHUQKӳQJGzQJVҧQSKҭP+H[DFRSWHU2NWRFRSWHU Pi\ED\
YjÿӝQJFѫ FӫDKmQJFyNKҧQăQJPDQJ WҧL UҩW OӟQ OrQÿӃQ.J WKtFKKӧSFKR
YLӋFYұQFKX\ӇQFiFFDPHUDFKX\rQGөQJWKӵFKLӋQTXD\NK{QJҧQKFKҩWOѭӧQJFDR
1KӳQJVҧQSKҭPQj\FyJLiWӯẳÿӃQẳW\YjRFҩXKuQK
10
1.2.3 7uQKKuQKQJKLrQFͱXtrong Q˱ͣF
a. 0{KuQKQuadrocopter GRQKyPFͯDNͿV˱/r&{QJ'DQKWKFKL͏Q
1Jj\ F{QJWUuQK³1JKLrQFӭXWKLӃWNӃYjFKӃWҥRP{KuQKPi\ED\
OrQWKҷQJEӕQ FKRQJFKyQJFyNKҧQăQJWӵFkQEҵQJYjGLFKX\ӇQWURQJQKj´GR NӻVѭ
/r&{QJ'DQKJLҧQJYLrQ.KRD&ѫNKttUѭӡQJĈ+*LDRWK{QJYұQWҧL73.HCM OjP
FKӫQKLӋPNӻVѭ3KҥP1JӑF+X\OjQJѭӡLQJKLrQFӭXFKtQKÿmÿѭӧFQJKLӋPWKXWҥL
6ӣ.KRDKӑF- &{QJQJKӋ73.HCM.
+uQK16 M{KuQKPi\ED\ QJKLӋPWKXWҥL6ӣ.KRDKӑF- &{QJQJKӋ
ĈӇEҧRÿҧPÿӝQKҽFӫDP{KuQKQKyPQJKLrQFӭX ÿmVӱGөQJYұWOLӋXOjQK{P
YjVӧLFDUERQÿӇFKӃWҥRNKXQJPi\ED\6RYӟLFiFPi\ED\P{KuQKÿDQJEiQWUrQ
WKӏWUѭӡQJVҧQSKҭPQj\FyPҥFKÿLӋQÿLӅXNKLӇQSKӭFWҥSKѫQJL~SQJѭӡLVӱGөQJ
GӉGjQJÿLӅXNKLӇQKѫQQJѭӡLFKѭDVӱGөQJEDRJLӡFNJQJFyWKӇÿLӅXNKLӇQÿѭӧF
Theo PGS-76/r+RjL4XӕF3Ky*LiPÿӕF6ӣ.KRDKӑF - &{QJQJKӋ73.HCM,
ÿk\OjPӝWÿӅWjLNKyYjYӟLQKӳQJJuÿҥWÿѭӧFWiFJLҧÿmKRjQWKjQKPөFWLrXÿӅUD
+LӋQQD\NӃWTXҧQJKLrQFӭXÿmÿѭӧFFKX\ӇQYӅFKRÿѫQYӏFKӫWUuOj7UXQJWkP7KLӃW
NӃFKӃWҥRWKLӃWEӏPӟL1HSWHFKÿӇWLӃSWөFKRjQWKLӋQWKrP 'ӵNLӃQNKLÿѭDYjRVҧQ
[XҩWJLiEiQPӛLP{KuQKVӁOj
b. &K͇W̩RQuadrocopter t̩L FiFFkXO̩FE͡P{KuQK [12]
7URQJQăPWӯWKjQKF{QJFӫDNӻVѭ3KҥP1JӑF+X\ӣWUrQYLӋFFKӃWҥR
QuadURFRSWHUÿm WUӣ WKjQK WUjR OѭX OӟQ WURQJFiFQKyPFKѫLPi\ED\P{KuQK.ӃW
TXҧ OjQKLӅXPi\ED\QuadURFRSWHUÿmED\ OrQ WKjQKF{QJ WӯQKӳQJQJѭӡLÿDPPr
P{KuQK
7X\ QKLrQ GR KӋ WKӕQJ FҧP ELӃQ FKӍ GQJ J\URscope ÿR FKX\ӇQ ÿӝQJ WKHR
WUөFNK{QJFyFҧPELӃQJLDWӕFÿRJyFQJKLrQJQrQ[ҧ\UDKLӋQWѭӧQJ³WU{L´NKҧQăQJ
11
ED\FӫDP{KuQKWӕWKD\NK{QJYүQSKөWKXӝFNKiQKLӅXYjRNLQKQJKLӋPFӫDQJѭӡL
ÿLӅXNKLӇQ
+uQK17 0ӝWFKLӃFPi\ED\ ÿӝQJFѫFӫDFkXOҥFEӝP{KuQK
c. 1JKLrQFͱXFK͇W̩RQuadrocopter W̩LFiFWU˱ͥQJĈ̩LK͕F
&NJQJJLӕQJQKѭÿӅWjL³FKӃWҥR[HWӵFkQEҵQJ´ӣQKӳQJQăPWUѭӟFWURQJQăP
YӯDTXDÿӅWjL³QJKLrQFӭXFKӃWҥRP{KuQKPi\ED\OrQWKҷQJQuadURFRSWHU´
ÿmWUӣWKjQKÿӅWjLQyQJWKXK~WQKLӅXVӵTXDQWkPFӫDVLQKYLrQEӣLWtQKPӟLPҿYj
ÿҫ\ WK~ Yӏ FӫD Qy 1KLӅX VLQK YLrQ QăP - VLQK YLrQ VҳS UD WUѭӡQJ ÿm FKӑQ
QuadURFRSWHUOjPÿӅWjLQJKLrQFӭXWK}DPmQQKXFҫXKӑFWұSFӫDPuQK
7X\QKLrQNӃWTXҧFӫDQKӳQJÿӗiQQj\YүQFKѭDÿѭӧFPӻPmQ'RQKӳQJNKy
NKăQYjKҥQFKӃQKѭWKӡLJLDQWLӃS[~FQJKLrQFӭX, WuPKLӇXQJҳQWKLӃXNLQKQJKLӋP
WURQJOƭQKYӵFWKLӃWEӏED\ QrQYүQFzQQKӳQJWӗQWҥLVLQKYLrQFKѭDNKҳFSKөFÿѭӧF
HLӋQWҥLYүQFKѭDFyÿӅWjLQjR cho P{KuQKED\OrQWKjQKF{QJ
+uQK8 QuadrotoUYjQKyPVLQKYLrQ&ѫÿLӋQWӱĈH &{QJQJKLӋS+j1ӝL
1KyPVLQKYLrQQJjQK&ѫÿLӋQWӱĈҥLKӑF&{QJQJKLӋS+j1ӝLÿmNK{QJNKҳF
SKөFÿѭӧFYҩQ ÿӅQKLӉX FӫD FҧPELӃQJLD WӕF FKӍGQJ WtQKLӋX J\URscope ÿӇÿLӅX
NKLӇQQrQP{KuQKYүQFKѭDWKӇED\FkQEҵQJ
12
+uQK9 5RERWWӵKjQKNLӇXQuadURWRUFӫD+ӑFYLӋQKӻWKXұWQXkQVӵ
5RERWPi\ ED\ FӫD+ӑFYLӋQ.ӻ WKXұW4XkQ Vӵ Fy NKӕL OѭӧQJNKi QһQJ JҫQ
.J NK{QJGQJEҩWNǤ FҧPELӃQ ÿRTXiQWtQK QjR, FKӍGQJWtQKLӋXÿLӅXNKLӇQÿѫQ
WKXҫQ Wӯ WD\ ÿLӅX NKLӇQ Y{ WX\ӃQ7ҥL WULӇQ OmP5RERFRQ7HFKVKRZ URERW ÿm
NK{QJFҩWFiQK WKjQKF{QJ.
1ӃX[pWӣFҩSÿӝFDRKѫQOXұQYăQWKҥFVƭKD\F{QJW\QJKLrQFӭXWKHRÿѫQÿһW
KjQJWKuKLӋQWҥLWuQKKuQKQJKLrQFӭXWURQJQѭӟFÿmÿҥWÿѭӧFQKӳQJNӃWTXҧUҩWNKҧ
TXDQ1KLӅXP{KuQKÿmÿiSӭQJWӕWYӅWtQKFkQEҵQJYjÿӝәQÿӏQK7URQJÿyQJRjL
FiFFҧPELӃQTXiQWtQK J\URYjJLDWӕF VӱGөQJWKrPFҧPELӃQKӗQJQJRҥLQKұQELӃW
ÿѭӡQJFKkQWUӡLFҧPELӃQVLrXkPQKұQELӃWÿӝFDRGQJWtQKLӋX*36FKRPөFÿtFK
WӵKjQKYYô
1.3 1ӝLGXQJQJKLrQFӭXFӫDÿӅWjL
Quadrocopter OjPӝWÿӅWjLNKyÿzLKӓLNLӃQWKӭFWәQJKӧSӣQKLӅXOƭQKYӵFQKѭ
FѫNKtWKLӃWNӃ WKLӃWEӏED\ NKtÿӝQJKӑFÿӝQJOӵFKӑF[ӱOờWtQKLӋXVӕPҥFKÿLӋQ
Wӱ YLÿLӅXNKLӇQ JLDRWLӃS Pi\WtQKWUX\ӅQWK{QJY{WX\ӃQP{KuQKKyDP{SKӓQJ
OұS WUuQK ÿLӅX NKLӇQ OұS WUuQK JLDR GLӋQ v.vôDo ÿy ÿzL KӓLPӛL WKjQKYLrQ trong
QKyP SKҧLQӛOӵFKӃWPuQKÿӇFyWKӇKRjQWKjQKÿѭӧFÿӅWjL
&iFYҩQÿӅFKtQKFӫDÿӅWjL
- 7uPKLӇXQJX\rQOờÿLӅXNKLӇQQJKLrQFӭXÿӝQJKӑFÿӝQJOӵFKӑFNKtÿӝQJ
KӑFYjP{KuQKWRiQFӫDWKLӃWEӏED\GҥQJQuadrocopter.
- 7tQKWRiQWKLӃWNӃYjFKӃWҥRP{KuQKFѫNKt
- 7KLӃWNӃKӋWKӕQJÿLӅXNKLӇQ
- ;k\GӵQJWKXұWWRiQÿLӅXNKLӇQ
13
'RÿLӅXNLӋQKҥQFKӃYӅ NLQKSKtWKӡLJLDQ WKӵFKLӋQ QJҳQYjNKҧQăQJNLӃQWKӭF
WURQJOƭQKYӵF czQ KҥQ KҽS QrQÿӅWjLÿѭӧFJLӟLKҥQWURQJFiFÿLӅXNLӋQQKѭVDX
- 1JKLrQFӭXFKӃWҥRP{KuQKQuadrocopter lRҥLF{QJVXҩWQKӓVӱGөQJÿӝQJFѫ
NK{QJFKәLWKDQYjEӝÿLӅXWӕF(6&JLDRWKӭF PWM.
- ;ӱOờWtQKLӋXFiF FҧPELӃQ TXiQWtQK (gyroscope Yjaccelerometer) ÿӇÿѭDYjR
ÿLӅXNKLӇQQuadURFRSWHU WӵFkQEҵQJFKѭDFҫQTXDQWkPÿӃQÿLӅXNKLӇQKѭӟQJED\
FӫDP{KuQK.
1.4 3KѭѫQJSKiS YjSKѭѫQJWLӋQ QJKLrQFӭX
9ӅSKѭѫQJSKiS QJKLrQFӭX:
- 7uPKLӇX FiFWjLOLӋXYjWKLӃWNӃKLӋQFyӣWURQJYjQJRjLQѭӟF
- 7tQKWRiQWKLӃWNӃP{KuQKKyDYjP{SKӓQJÿӇÿiQKJLiFKҩWOѭӧQJKӋWKӕQJ
YjORҥLWUӯFiFOӛLWKLӃWNӃ
- TLӃQKjQKWhӵF QJKLӋPÿRÿҥFYӁÿӗWKӏSKkQWtFKYjKLӋXFKӍQKFkQEҵQJ
9ӅSKѭѫQJWLӋQ QJKLrQFӭX:
- 7KLӃW NӃP{ KuQK Yj WtQK WRiQ ÿӝ EӅQ EҵQJ SKҫQPӅP6ROLGZRUNV OұS WUuQK
JLDF{QJ&1&FKRSKҫQNKXQJQuadrocopter.
- &iFWUDQJWKLӃWEӏED\WӯKӛWUӧFӫDJLiRYLrQKѭӟQJGүQ.
- 6ӱGөQJ WKLӃWEӏ ÿLӋQWӱ ÿROѭӡQJOӵFÿҭ\FӫDÿӝQJFѫ± FiQKTXҥW
- *LiPViWWӯPi\WtQKGQJSKҫQPӅP9LVXDO&LabVIEW.
14
&+ѬѪ1* /ộ7+8<ӂ77,ӂ3&Ұ1
2.1 /ờWKX\ӃWÿLӅXNKLӇQQuadrocopter [2]
+uQK ĈӏQKQJKƭDFiFKѭӟQJFKX\ӇQÿӝQJ FӫD Quadrocopter
&һSFiQKTXҥWSKtDWUѭӟF (front) YjSKtDVDX (back) TXD\QJѭӧFFKLӅXNLPÿӗQJ
KӗWURQJNKLÿyFһSFiQKErQSKҧL (right) YjErQWUiL(left) OҥLTXD\WKXұQFKLӅXNLP
ÿӗQJKӗQKҵPFkQEҵQJPoment [RҳQ ÿѭӧFWҥRUDEӣLFiFFiQKTXҥWWUrQNKXQJ&ҧ4
FiQK SKҧL VLQK UD PӝW OӵF ÿҭ\ EҵQJ QKDX NKL Quadrocopter FҩW FiQK Yj Kҥ FiQK
(throttle up/down)*yFxoay (roll) ÿѭӧFÿLӅXNKLӇQEҵQJFiFK WKD\ÿәL WӕFÿӝJLӳD
FiQKErQSKҧLYjErQWUiLVDRFKRYүQJLӳQJX\rQWәQJOӵFÿҭ\VLQKUDEӣLFһSFiQK
Qj\7ѭѫQJWӵQKѭYұ\JyFQJKLrQJ SLWFK ÿѭӧFÿLӅXNKLӇQEҵQJWKD\ÿәL WӕFÿӝFӫD
FiQKSKtDWUѭӟFYjSKtDVDX PjYүQJLӳQJX\rQWәQJOӵFÿҭ\. 7URQJNKLÿyJyFOӋFK
(yaw) ÿѭӧFÿiӅXNKLӇQ QKӡYjRVӵWKD\ÿәLWӕF ÿӝ FӫDFһSFiQKSKҧL± WUiL so vӟL WӕF
ÿӝ FӫDFһSFiQKWUѭӟF ± sau PjWәQJOӵFÿҭ\FiQKYүQNK{QJÿәLÿӇQuadrocopter
JLӳÿѭӧFÿӝFDR.
1KѭYұ\, YLӋFÿLӅXNKLӇQED\FӫDQuadrocopter OjYLӋFÿLӅXNKLӇQWӕFÿӝTXD\
FӫDFiFFiQKTXҥW6RViQKYӟLPi\ED\WUӵFWKăQJYLӋFGLFKX\ӇQSKөWKXӝFYjRJyF
OӋFKJLӳDPһWSKҷQJFiQKPһWSKҷQJTXD\VRYӟL WUөFTXD\FӫDFiQKSKҧLFyPӝWFѫ
FҩXFѫNKtÿӇWKD\ÿәLJyFOӋFKQj\&ѫFҩXFѫNKtQj\FyNӃWFҩXNKiSKӭFWҥS GүQ
ÿӃQFiFVDLVӕFѫNKtWURQJTXiWUuQKÿLӅXNKLӇQ9LӋFÿLӅXNKLӇQWӕFÿӝFiFFһSmotor
FӫD Quadrocopter WKu ÿѫQ JLҧQ Yj FKtQK [iF KѫQ Ĉk\ Oj PӝW ѭX ÿLӇP OӟQ FӫD
Quadrocopter.
6DXÿk\VӁP{Wҧ FөWKӇKѫQ FiFFKX\ӇQÿӝQJED\FѫEҧQFӫDQuadrocopter:
15
4XLѭӟFKӋWUөFWӑDÿӝJҳQYjR WKkQQuadURFRSWHUFyFiFWUөFÿѭӧFEӕWUtQKѭ
KuQK2JӕFWӑDÿӝÿһWWҥLWkPQuadrocopter.
a. Hover: QuadURFRSWHUED\OѫOӱQJWURQJNK{QJWUXQJӢWUҥQJWKiLQj\WҩWFҧ
FiFFiQKTXҥWTXD\FQJPӝWWӕFÿӝNK{QJÿәL 1 = 2 = 3 = 4 = H).
+uQK2 Hover
b. Throttle: QuadURFRSWHUVӁED\OrQKRһFKҥ[XӕQJWKHRSKѭѫQJWKҷQJÿӭQJĈӇ
ED\OrQWӕFÿӝFӫDFiQKTXҥWWăQJOrQKҥ[XӕQJWKuFҧFiQKFQJJLҧPWӕFNKLÿy
VӁWҥRUDPӝWKӧSOӵFGӑFWUөFÿӭQJOjPQuadURFRSWHUED\OrQKRһFED\[XӕQJ
+uQK3 Throttle
7URQJÿy
+ ሷ OjJLDWӕFWKHRSKѭѫQJ=b.
H OjYұQWӕFJyFFӫDFiQKTXҥW
ăA OjOѭӧQJWăQJKRһFJLҧPFӫDH ÿӇQuadURFRSWHUED\OrQKD\[XӕQJ
&ҫQFK~ờOjăA NK{QJÿѭӧFTXiOӟQYuVӁҧQKKѭӣQJPҥQKÿӃQÿӝәQÿӏQKFkQEҵQJ
FӫDQuadrocopter.
c. Roll: QuadURFRSWHUED\VDQJSKҧLKRһFVDQJWUiLĈӇED\VDQJSKҧL KRһFVDQJ
WUiL WDJLӳQJX\rQWӕFÿӝFӫDFiQKTXҥWWUѭӟFYjVDXWăQJ KRһFJLҧP WӕFÿӝFӫD
FiQK TXҥW ErQ WUiL Yj JLҧP KRһF WăQJ WӕF ÿӝ FiQK TXҥW ErQ SKҧL 7ӯ ÿy WҥR UD
moment [RҳQ TXDQKWUөc Xb OjPFKRWәQJOӵFQkQJFӫDFiQKTXҥWNK{QJFzQQҵP
WKHRSKѭѫQJWKҷQJÿӭQJPjWӗQWҥLWKjQKSKҫQOӵFKѭӟQJWKHRSKѭѫQJFKX\ӇQÿӝQJ
16
+uQK4 Roll
7URQJÿy
+ ߶ሷ JLDWӕF JyF[RD\TXDQKWUөF;b.
H OjYұQWӕFJyFFӫDFiQKTXҥW
ăAăB ăAĐăB ÿӝWăQJKD\JLҧPFӫDYұQWӕFJyFH.
d. Pitch: Quadrocopter ED\WӟLWUѭӟFKRһFbay lui YӅVDX7ѭѫQJWӵQKѭ5ROO
FiQK TXҥW WUiLYjSKҧLJLӳQJX\rQ WӕFÿӝEҵQJQKDXĈӇED\ WӟL KRһFED\ OXL ÿLӅX
NKLӇQWăQJ KRһFJLҧP WӕFÿӝFӫDFiQKTXҥWVDXYjJLҧP KRһFWăQJ WӕFÿӝFiQKTXҥW
WUѭӟFWҥRWDPRPHQW[RҳQ TXDQKWUөF<b.
+uQK5 Pitch
7URQJÿy
+ ϭሷ : JLDWӕFJyF[RD\quanh WUөF<b.
H OjYұQWӕFJyFFӫDFiQKTXҥW
ăAăB ăAĐăB ÿӝWăQJKD\JLҧPFӫDYұQWӕFJyFH.
e. Yaw: Quadrocopter TXD\TXDQKWUөF=bĈLӅXNKLӇQWӕFÿӝFiFFiQKTXҥWtheo
FiFK sau WӕFÿӝ2 FiQK ÿӕLGLӋQWKuEҵQJQKDX, QKѭQJ NKiFYӟL WӕFÿӝ2 FiQKÿӕLGLӋQ
FzQOҥL ĈӇQuadrocopter quay quanh trөc Zb theo FKLӅXQJѭӧFNLPÿӗQJKӗWDJLҧP
WӕFÿӝFһS FiQK TXҥW FyFKLӅXTXD\QJѭӧFNLPÿӗQJKӗ FKLӅXPXӕQquay) YjWăQJ WӕF
ÿӝFһS FiQK TXҥW TXD\ WKXұQFKLӅXNLPÿӗQJKӗ ĈӇTXD\ quanh trөc Zb theo FKLӅX
WKXұQNLPÿӗQJKӗWDOjPQJѭӧFOҥLFiFKWUrQ
17
+uQK6 Yaw
7URQJÿy:
+ ߖሷ JLDWӕFJyF[RD\TXDQKWUөF=b.
H OjYұQWӕFJyFFӫDFiQKTXҥW
ăAăB ăAĐăB ÿӝWăQJKD\JLҧPFӫDYұQWӕFJyFH.
2.2 0{KuQKWRiQFӫD Quadrocopter [2]
2.2.1 Ĉ͡QJK͕F
ĈӝQJKӑF OjPӝW QJjQK FӫD FѫKӑFP{ Wҧ FiF FKX\ӇQÿӝQJ FӫD ÿӕL WѭӧQJPj
NK{QJFҫQ[HP [pWFiFQJX\rQQKkQJk\UDFKX\ӇQÿӝQJ OӵFYjPRPHQW
ĈӇP{WҧFiFFKX\ӇQÿӝQJFӫDPӝWNKXQJFӭQJEұFWӵGRFҫQKӋTX\FKLӃX
+uQK7 +ӋTX\FKLӃX(Yj%
- KӋTX\FKLӃX( OjKӋTX\FKLӃXTXiQWtQK7UiLÿҩWGQJÿӇ[iFÿӏQKYHFWRUYӏ
WUtGjLīE [m] YjYHFWRUYӏWUtJyFĬE [rad] FӫDQuadrocopter.
- KӋTX\FKLӃX% OjKӋTX\FKLӃX JҳQYӟL NKXQJQuadrocopter, dQJÿӇ[iF
ÿӏQK YHFWRU YұQ WӕF GjLV B [m/s], vұQ WӕF JyFȦB [rad/s],OӵF [N], vj
moment [RҳQ ɒ [Nm] FӫDQuadrocopter.
18
7URQJÿy
OE: gӕc WӑDÿӝFӫDKӋWUөFTXiQWtQK7UiLÿҩW.
xE: WUөFKѭӟQJYӅSKtD%ҳF
yE: WUөFKѭӟQJYӅSKtD7k\
zE: WUөFYX{QJJyFYӟLPһWSKҷQJ (xE,yE YjKѭӟQJOrQ
OB: gӕF WӑDÿӝFӫDKӋWUөFJҳQYӟLNKXQJQuadrocopter.
xB: WUөFKѭӟQJYӅWUѭӟFFӫDQuadrocopter.
yB: WUөFKѭӟQJTXDWUiLFӫDQuadrocopter.
zB: WUөFYX{QJJyFYӟLPһWSKҷQJNKXQJP{KuQKYjKѭӟQJOrQ
+DLYHFWRUÿ˱ͫFÿ͓QKQJKƭDWURQJK͏WUͭF(
- Vector vӏ WUt GjLīE [m] ÿѭӧF[iFÿӏQKWӯ2E ÿӃQ2B :
īE = [X Y Z ] T (2.1)
- 9HFWRUYӏWUtJyFĬE [rad] ELӇXGLӉQJyF[RD\FӫDKӋWUөF%ÿӕLYӟLKӋWUөF
WKDPFKLӃX(EҵQJJyF(XOHUUROOSLWFK\DZ
ĬE >ijșȥ@ T (2.2)
=> 9HFWRUYӏWUtWәQJTXiWȟ EDRJӗPYHFWRUYӏWUtīE YjYHFWRUJyFĬE :
ȟ = [īE ĬE] T = [X Y Z ɔ Ʌ ɗ] T (2.3)
%͙QYHFWRUÿ˱ͫFÿ͓QKQJKƭDWURQJK͏WUͭF%
- 9HFWRUYұQWӕFGjLV B [m/s]:
V B = [u v w ] T (2.4)
- 9HFWRUYұQWӕFJyFȦB [rad/s]:
ȦB = [p q r] T (2.5)
=> 9HFWRUYұQWӕF WәQJTXiWȞ :
Ȟ = [V B ȦB] T = [u v w p q r] T (2.6)
- VHFWRU OӵF >1@YjYHFWRUPRPHQW [RҳQ ɒ>1P@ VӁÿѭӧF WuP WURQJSKҫQ
ĈӝQJOӵFKӑFWK{QJTXDÿӏQKOXұW1HZWRQ
ĈӇ[iFÿӏQKPӕLOLrQKӋJLӳDFiFYHFWRUQKҵPP{WҧFKX\ӇQÿӝQJFӫDÿӕLWѭӧQJ
FҫQÿӏQKQJKƭDPDWUұQ PDWUұQTXD\RĬ, PDWUұQFKX\ӇQYӏTĬ YjPDWUұQWәQJ
TXiWJĬ.
- 0DWUұQTXD\RĬ FyÿѭӧFEҵQJFiFKQKkQPDWUұQTXD\FѫEҧQTXDQKWUөF
RĬ = R(ȥ, z) R(ș, y) R(ij, x) =
ɗ
Ʌ െɗ
ɔ
ɗɅɔ ɗɔ
ɗɅ
ɔ
ɗ
Ʌ
ɗ
ɔ ɗɅɔ െ
ɗɔ ɗɅ
ɔ
െɅ
Ʌɔ
Ʌ
ɔ
൩(2.7)
7URQJSKѭѫQJWUuQKWUrQYjQKӳQJSKѭѫQJWUuQKVDXÿk\FiFNờKLӋX
Qj\ÿѭӧFVӱGөQJYӟLờQJKƭD ck = cos k, sk = sin k, tk = tan k.
7KHRÿy
x Xoay TXDQKWUөF]E PӝWJyFȥ (yaw): 5 ȥ] =
ɗ െɗ Ͳ
ɗ
ɔ
Ͳ
Ͳ Ͳ ͳ
൩ (2.8)
19
x ;RD\TXDQKWUөF\1 PӝWJyFș(pitch): R(ș, y)=
Ʌ Ͳ Ʌ
Ͳ ͳ Ͳ
െɅ Ͳ
Ʌ
൩ (2.9)
x ;RD\TXDQKWUөF[2 PӝWJyFij (roll): R(ij, x)=
ͳ Ͳ Ͳ
Ͳ
ɔ െɔ
Ͳ ɔ
ɔ
൩ (2.10)
- 0DWUұQFKX\ӇQYӏ TĬ :
TĬ =
ͳ ɔɅ
ɔɅ
Ͳ
ɔ
െɔ
Ͳ ݏ߮Ȁ
Ʌ
ɔȀ
Ʌ
൩ (2.11)
- 0DWUұQWәQJTXiWJĬ :
JĬ = ቂ
ȣ Ͳ͵͵
Ͳ͵͵ ȣ
ቃ (2.12)
.ờKLӋX3x3 WKӇKLӋQPӝWPDWUұQNtFKWKѭӟF[FyWҩWFҧWK{QJVӕEҵQJ
3K˱˯QJWUuQKOLrQK͏JLͷDFiFYHFWRUWURQJK͏WUͭF(YjK͏WUͭF%
- 3KѭѫQJWUuQKOLrQKӋJLӱDYHFWRUYӏWUtȟ WURQJKӋWUөF( YjYHFWRUYұQWӕF Ȟ
WURQJKӋWUөF% WK{QJTXDPDWUұQWәQJTXiWJĬ :
Ɍሶ = JĬ . Ȟ (2.13)
- 3KѭѫQJWUuQKPӕLTXDQKӋJLӳDYұQWӕFWURQJNKXQJWKDPFKLӃX%YӟL(
V E = īÚE = RĬ .V B (2.14)
- 3KѭѫQJ WUuQKPӕLTXDQKӋJLӳDYұQ WӕFJyF WURQJNKXQJ WKDPFKLӃX%YӟL(
WK{QJTXDPDWUұQFKX\ӇQYӏTĬ:
ĬÚ =TĬ .ȦB (2.15)
20
2.2.2 Ĉ͡QJOFK͕F
ĈӝQJ OӵFKӑF OjPӝWQJjQKFӫDFѫKӑFQJKLrQFӭXQKӳQJ WiFÿӝQJFӫD OӵFYj
PRPHQWWUrQPӝWYұWKD\KӋ YұWÿDQJFKX\ӇQÿӝQJ
3KҫQQj\QKLӋPYөFKtQKOjWuPSKѭѫQJWUuQKFӫDOӵFYjPRPHQWJk\UDFKX\ӇQ
ÿӝQJFӫDQuadrocopter.
+uQK8 &iFOӵFYjPRPHQWWiFGөQJOrQQuadrocopter
7KHR ÿӏQK OXұW 1HZWRQ WD Fy SKѭѫQJ WUuQK FKX\ӇQ ÿӝQJ FӫD YұW WKӇ FKX\ӇQ
ÿӝQJWӏQKWLӃQ
m.īÚÚE = FE
=> m. = RĬ.FB
=> m(ȣǤሶ ሶ ȣǤ) = RĬ.FB
=> mǤȣ(ሶ Ȧ) = RĬ.FB
=> m(ሶ Ȧ) = FB (2.16)
7URQJÿy
m [kg] NKӕLOѭӧQJFӫDQuadrocopter.
FE [N] vHFWRUOӵFWURQJKӋWUөF(
īÚÚE [m/s2] YHFWRUJLDWӕF GjLWURQJKӋWUөF(
ሶ [m/s2] YHFWRUJLDWӕFGjL[pWWKHRKӋWUөF%
ሶ ȣ [-] ÿҥRKjPPDWUұQ[RD\
&iFWKjQKSKҫQFKX\ӇQÿӝQJ[RD\FӫDYұWWKӇWXkQWKHRÿӏQKOXұW1HZWRQ
I. =IJ
=> I. =TĬ.IJ
=> I.Ȧሶ +Ȧ x (I.Ȧ)= TĬ.IJ (2.17)
7URQJÿy
I [Nms2] PDWUұQTXiQWtQKWURQJKӋWUөF%
[rad/s2] vector JLDWӕFJyFWURQJKӋWUөF(
Ȧሶ [rad/s2] vector JLDWӕFJyFWURQJKӋWUөF%
21
.ӃWKӧShai SKѭѫQJ WUuQK 2.16 Yj 2.17), WDÿѭӧFSKѭѫQJ WUuQKĈӝQJ OӵFKӑF
WәQJTXiWFKRWҩWFҧFiFNKXQJFӭQJ EұFWӵGR:
ቂ
͵͵ Ͳ͵͵
Ͳ͵͵ ͵͵
ቃ ሶ
ɘሶ
൨ +
ɘ ൈሺ
ሻ
ɘ ൈሺ ɘ
ሻ ൨ = ቂ
IJ ቃ (2.18)
7URQJÿy
I3ợ3 OjPDWUұQÿѫQYӏNtFKWKѭӟF3x3.
FB YjIJ OӵFWiFGөQJYjPRPent [RҳQ ÿһFWUѭQJFKRQJX\rQQKkQJk\
UDFKX\ӇQÿӝQJFӫDQuadrocopter.
2.2.3 0{KuQKNewton-Euler
&iFSKѭѫQJWUuQKFKX\ӇQÿӝQJÿѭӧFWKLӃWOұSVӁFyQKLӅXWKXұQOӧLKѫQNKL[k\
GӵQJWURQJKӋWUөF%YuQKӳQJOờGRVDXÿk\:
&iFPDWUұQTXiQWtQKOjEҩWELӃQWKHRWKӡLJLDQ.
&ҩXWU~FNKXQJÿӕL[ӭQJÿѭӧFGQJÿӇÿѫQJLҧQKyDFiFSKѭѫQJWUuQK
&iFSKpSÿRWKӵFKLӋQWUrQERDUGÿLӅXNKLӇQGӉGjQJÿѭӧFFKX\ӇQÿәLVDQJ
KӋWUөFJҳQYӟLNKXQJ.
&iFOӵFÿLӅXNKLӇQJҫQQKѭOX{QÿѭӧFÿѭDUDWURQJKӋWUөFJҳQYӟLNKXQJ
3KѭѫQJWUuQK 2.13) P{WҧÿӝQJKӑFFӫDNKXQJFӭQJEұFWӵGR
ȟÚ = JĬ Ȟ (2.13)
7URQJÿyȟÚ OjYHFWRUYұQWӕFWәQJTXiW[pWWKHRKӋWUөF(
Ȟ OjYHFWRUYұQWӕFWәQJTXiW[pWWKHRKӋWUөF%
JĬ OjPDWUұQWәQJTXiW
ȟ EDR JӗP YHFWRU Yӏ WUt GjL īE >P@ Yj YHFWRU Yӏ WUt JyF ĬE >UDG@ FӫD
Quadrocopter [pWWKHRKӋWUөF(
ȟ = [īE ĬE] T = [X Y Z ɔ Ʌ ɗ] T (2.3)
Ȟ EDRJӗPYHFWRUYұQWӕFGjLV B [m/s@YjYHFWRUYұQWӕFJyFȦB [rad/s@FӫD
Quadrocopter [pWWKHRKӋWUөF%
Ȟ = [V B ȦB] T = [u v w p q r] T (2.6)
1JRjLUDWDFyPDWUұn tәQJTXiWJĬ [iFÿӏQKQKѭVDX
JĬ = ቂ
ȣ Ͳ͵͵
Ͳ͵͵ ȣ
ቃ (2.12)
Ma trұn quay RĬ YjPDWUұn chuyӇn vӏ TĬ ÿѭӧF[iFÿӏQKWKHRSKѭѫQJWUuQK
RĬ =
ɗ
Ʌ െɗ
ɔ
ɗɅɔ ɗɔ
ɗɅ
ɔ
ɗ
Ʌ
ɗ
ɔ ɗɅɔ െ
ɗɔ ɗɅ
ɔ
െɅ
Ʌɔ
Ʌ
ɔ
൩ (2.7)
TĬ =
ͳ ɔɅ
ɔɅ
Ͳ
ɔ
െɔ
Ͳ ݏ߮Ȁ
Ʌ
ɔȀ
Ʌ
൩ (2.11)
22
ĈӝQJOӵFKӑFFӫDNKXQJFӭQJEұFWӵGRÿѭӧFP{WҧEҵQJSKѭѫQJWUuQK 2.18):
ቂ
͵͵ Ͳ͵͵
Ͳ͵͵ ͵͵ቃ
ሶ
ɘሶ
൨ +
ɘ
ൈሺሻ
ɘ
ൈሺ ɘሻ ൨ = ቂ
IJ
ቃ (2.18)
+DLJLҧÿӏQKÿmÿѭӧFWKӵFKLӋQWURQJFiFKWLӃSFұQQj\
0ӝWOjJӕFFӫDKӋWUөFJҳQYӟLNKXQJOB WUQJYӟLWUӑQJWkPNKӕLOѭӧQJFӫD
NKXQJ1ӃXNK{QJPӝWÿLӇPWUӑQJWkPNKiFSKҧLÿѭӧFÿѭDYjRWtQKWRiQYjQyVӁOjP
SKӭFWҥSÿiQJNӇFiFSKѭѫQJWUuQKFӫDNKXQJ
+DL Oj TX\ ÿӏQK UҵQJ FiF WUөF FӫD KӋ % WUQJ YӟL WUөF TXiQ WtQK FKtQK FӫD
NKXQJ7URQJWUѭӡQJKӧSQj\PDWUұQTXiQWtQKI OjPDWUұQFKpRYjPӝWOҫQQӳDFiF
SKѭѫQJWUuQKFӫDNKXQJQuadrocopter WUӣQrQGӉGjQJKѫQ
9HFWRUOӵFWәQJTXiWȁ ÿѭӧF[iFÿӏQKWKHRSKѭѫQJWUuQK 2.19):
ȁ = [ IJ] T = [Fx Fy Fz ɒx ɒy ɒz] T (2.19)
7DFyWKӇYLӃWOҥLSKѭѫQJWUuQK 2.18 GѭӟLGҥQJPDWUұQ
MB ȞÚ + CB (Ȟ ) Ȟ = ȁ (2.20)
7URQJÿyȞÚ OjYHFWRUJLDWӕFWәQJTXiW[pWWKHRKӋWUөF%
MB OjPDWUұQTXiQWtQKKӋWKӕQJ[pWWKHRKӋWUөF%
CB (Ȟ ) OjPDWUұQ&RULROLVKѭӟQJWkP[pWWKHRKӋWUөF%
3KѭѫQJWUuQK 2.21 ELӇXGLӉQPDWUұQTXiQWtQKKӋWKӕQJ
MB = ቂ
͵͵ Ͳ͵͵
Ͳ͵͵ ͵͵ቃ =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.21)
'ӉWKҩ\UҵQJMB OjPDWUұQFKpRYjOjKҵQJVӕ theRFiFJLҧÿӏQKQrXӣWUrQ
3KѭѫQJWUuQK 2.22 ELӇXGLӉQPDWUұQ&RULROLVKѭӟQJWkP
CB (Ȟ ) =
Ͳ͵͵ െሺሻ
Ͳ͵͵ െሺ ɘሻ൨ =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ െ
െ Ͳ
െ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ
െ െ Ͳ
െ
Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.22)
7URQJÿyPD WUұQÿӕL[ӭQJ OӋFKÿѭӧFÿӏQKQJKƭDTXDYHFWRUFKLӅXk theo
SKѭѫQJWUuQK 2.23):
N ớ
T (k) =
Ͳ െ͵ ʹ
͵ Ͳ െͳ
െʹ ͳ Ͳ
൩ =
ͳ
ʹ
͵
൩ (2.23)
3KѭѫQJ WUuQK 2.20 OjSKѭѫQJ WUuQKFKXQJYjKRjQ WRjQSKKӧSFKRPӑL ORҥL
YұW WKӇFӭQJ WXkQ WKHRJLҧ WKX\ӃW KD\ OjYLӋFÿѫQJLҧQKyD ÿmÿһW UDӣ WUѭӟF7X\
QKLrQQyÿѭӧFVӱGөQJWURQJSKҫQQj\ÿӇP{KuQKKyDPi\ED\QuadURFRSWHUYuYұ\
YHFWRUFXӕLFKӭDWK{QJWLQFөWKӇYӅÿӝQJOӵFKӑFFӫDQuadrocopter. ȁ FyWKӇÿѭӧF
FKLDWKjQKWKjQKSKҫQWKHRWtQKFKҩWFӫDFiFÿyQJJySWUrQQuadrocopter.
23
3KҫQÿyQJJySÿҫXWLrQOjYHFWRUKҩSGүQGB (ȟ ÿѭӧFFKRWӯJLDWӕFWKHRWUӑQJ
OӵF J >PV2@7KұW GӉ WKҩ\ UҵQJQy FKӍ ҧQK KѭӣQJ WKHR WX\ӃQ WtQK Yj NK{QJSKҧL Oj
SKѭѫQJWUuQKJyFGRQyOjPӝWOӵFNK{QJSKҧLOjPRPHQW[RҳQ3KѭѫQJWUuQK(2.24)
FKRWKҩ\VӵELӃQÿәLÿӇFyÿѭӧFGB (ȟ).
GB (ȟ) = ቈ
B
GF
Ͳ͵ͳ
= ቈ
1R4
E
GF
Ͳ͵ͳ
= ൦
TR4
Ͳ
Ͳ
െ
൩
Ͳ͵ͳ
൪ =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ʌ
െ
Ʌɔ
െ
Ʌ
ɔ
Ͳ
Ͳ
Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.24)
7URQJÿy BGF >1@OjYHFWRUOӵFKҩSGүQ[pWWKHRKӋWUөF%FzQ EGF >1@[pWWKHRKӋ
WUөF(9jGRRĬ OjPDWUұQWUӵFJLDRPDWUұQQJKӏFKÿҧR 1R4 FӫDQyEҵQJFKtQKPD
WUұQFKX\ӇQYӏ TR4 .
3KҫQÿyQJJySWKӭhai ÿѭӧFÿѭDYjRWtQKWRiQKLӋXӭQJFRQTXD\KӗLFKX\ӇQJk\
EӣLFKX\ӇQÿӝQJTXD\FӫDFiQKTXҥW%ӣLYuFyFiQKTXҥWTXD\FQJFKLӅXNLPÿӗQJ
KӗYjFiQKTXҥWFzQOҥLTXD\QJѭӧFFKLӅXNLPÿӗQJKӗFyPӝWVӵPҩWFkQEҵQJWәQJ
WKӇNKLWәQJÿҥLVӕWӕFÿӝFiFFiQKTXҥWNK{QJEҵQJ1JRjLUDQӃXWӕFÿӝUROOKRһF
SLWFKNKiFQuadrocopteUVӁFKӏXPӝWPRPHQWTXD\KӗLFKX\ӇQWtQKWKHRF{QJWKӭF
(2.25):
O
B
(Ȟ )
Ͳ͵ͳ
4
1
TP
k
J
Ư ൭ɘ ൈ
Ͳ
Ͳ
ͳ
൩൱ ሺെͳሻ݇π
=
Ͳ͵ͳ
TPJ ቈ
െ
Ͳ
π ൌ TPJ
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
െ
െ
Ͳ Ͳ
െ
െ
Ͳ Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.25)
OB (Ȟ OjPDWUұQFiQKTXҥWKӗLFKX\ӇQYj TPJ OjWәQJPRPHQWTXiQWtQKTXD\
ÿӕLYӟLWUөFFiQKTXҥW Oj PӝW KҵQJVӕFyJLiWUӏEҵQJ 104x10-6 Nms2) 'ӉGjQJQKұQ
WKҩ\UҵQJKLӋXӭQJFRQTXD\KӗLFKX\ӇQJk\EӣLVӵTXD\FӫDFiQKTXҥWFKӍOLrQTXDQ
ÿӃQJyFYjNK{QJSKҧLOjSKѭѫQJWUuQKWX\ӃQWtQK
3KѭѫQJ WUuQK (2.26) [iF ÿӏQK WӕF ÿӝ TXD\π [rad/s] FӫD WRjQ WKӇ FiQKTXҥW Yj
YHFWRUWӕFÿӝFiQKTXҥW [rad/s] VӱGөQJWURQJSKѭѫQJWUuQK 2.25):
π = െπ1 + π2 െ π3 + π4 =
πͳ
πʹ
π͵
πͶ
(2.26)
7URQJÿy π1OjWӕFÿӝFiQKTXҥWWUѭӟF.
π2OjWӕFÿӝFiQKTXҥWSKҧL.
π3OjWӕFÿӝFiQKTXҥWVDX.
π4OjWӕFÿӝFiQKTXҥWWUiL
3KҫQÿyQJJySWKӭba ÿѭӧFÿѭDYjRWtQKWRiQOӵFYjPRPHQW[RҳQ ÿѭӧFWUӵFWLӃS
Jk\UDEӣLFKX\ӇQÿӝQJFKtQKFӫDFiF\ӃXWӕÿҫXYjR;pWWKHRNKtÿӝQJKӑFFҧOӵFYj
24
moment [RҳQ ÿӅX WӍ OӋ WKXұQ YӟL EuQK SKѭѫQJ WӕF ÿӝ FiQK TXҥW 9u Yұ\ PD WUұQ
FKX\ӇQÿӝQJEB ÿѭӧFQKkQYӟL2 ÿӇFyYHFWRUFKX\ӇQÿӝQJUB&iFÿyQJJySNKt
ÿӝQJKӑFQKѭOӵFÿҭ\b [Ns2] YjOӵFNpRd [Nms2 ] VӁÿѭӧFWtQKWRiQFKLWLӃWӣSKҫQ
sau.
3KѭѫQJWUuQK(2.27) FKRWKҩ\WiFÿӝQJFӫDYHFWRUFKX\ӇQÿӝQJOrQÿӝQJOӵFKӑF
FӫDQuadrocopter:
UB EB 2 =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ
Ͳ
ͳ
ʹ
͵
Ͷے
ۑ
ۑ
ۑ
ۑ
ې
=
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ
Ͳ
ሺπͳ
ʹ πʹ
ʹ π͵
ʹ πͶ
ʹሻ
݈ሺെπʹ
ʹ πͶ
ʹሻ
݈ሺെπͳ
ʹ π͵
ʹሻ
ሺെπͳ
ʹ πʹ
ʹ െ π͵
ʹ πͶ
ʹሻے
ۑ
ۑ
ۑ
ۑ
ې
(2.27)
7URQJÿy݈ >P@OjNKRҧQJFiFKWӯWkPQuadrocopter ÿӃQWkPFӫDPӝWFiQKTXҥW
ͳ, ʹ, ͵ YjͶ OjFiFWKjQKSKҫQFӫDYHFWRUFKX\ӇQÿӝQJÿmQrX0ӕLTXDQKӋFӫD
FK~QJYӟL WӕFÿӝFӫD FiF FiQKTXҥW[XҩWSKiW Wӯ WtQK WRiQNKtÿӝQJKӑF%LӇX WKӭF
moment [RҳQ Jk\UDEӣLͶ ÿmÿѭӧFÿѫQJLҧQKyDEҵQJFiFKEӓTXD WKjQKSKҫQ Ú.
FӫDQy9uYұ\WҩWFҧVӵGL FKX\ӇQÿӅXFyELӇXWKӭFWѭѫQJWӵQKDXYjGӉGjQJNLӇP
VRiWKѫQ
1KѭÿmQrXӣWUrQWDFyWKӇ[iFÿӏQKPDWUұQKҵQJ EB TXDSKѭѫQJWUuQK(2.28):
EB =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ െ݈
Ͳ ݈
െ݈ Ͳ
െ
݈ Ͳ
െ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.28)
Tӯ SKѭѫQJ WUuQK 2.20 WD Fy WKӇ P{ Wҧ ÿӝng lӵc hӑc Quadrocopter [pW TXD
ÿyQJJySWUrQWKHRSKѭѫQJWUuQK 2.29):
MB ȞÚ + CB (Ȟ ) Ȟ = GB (ȟ) + OB (Ȟ ) + EB 2 (2.29)
Sҳp xӃp lҥLSKѭѫQJWUuQK 2.29 WDÿѭӧFÿҥRKjPYHFWRUYұn tӕc tәQJTXiWȞÚ[pW
theo hӋ trөc B:
ȞÚ = MBớ (െCB (Ȟ ) Ȟ + GB (ȟ) + OB (Ȟ ) + EB 2) (2.30)
7UuQKEj\OҥLFiFELӇu thӭFGѭӟi dҥng hӋ SKѭѫQJWUuQK
ە
ۖ
ۖ
ۖ
۔
ۖ
ۖ
ۖ
ۓ
ሶ ൌ ሺ െ ሻ Ʌ
ሶ ൌ ሺ െ ሻ െ
Ʌɔ
ሶ ൌ ሺ െ ሻ െ
Ʌɔ
ͳ
୫
ሶ ൌ
୍
ି୍
୍
െ TP
J
୍
π ʹ୍
ሶ ൌ
୍
ି୍
୍
TP
J
୍
π ͵୍
ሶ ൌ
୍
ି୍
୍
Ͷ୍
(2.31)
25
7URQJÿyWӕFÿӝ ÿҫXYjRFӫDFiFFiQKTXҥWÿѭӧFFKRWK{QJTXDKӋ SKѭѫQJWUuQK
ە
ۖ
۔
ۖ
ۓ
ͳ ൌ ሺπͳʹ πʹʹ π͵ʹ πͶʹሻ
ʹ ൌ ݈ሺെπʹʹ πͶʹሻ
͵ ൌ ݈ሺെπͳʹ π͵ʹሻ
Ͷ ൌ ሺെπͳʹ πʹʹ െ π͵ʹ πͶʹሻ
π ൌ െπͳ πʹ െ π͵ πͶ
(2.32)
0RPHQWTXiQWtQKIXX, IYY , IZZ ÿѭӧc [iFÿӏQKWKHRF{QJWKӭc:
Idӏch chuyӇn = IWkP + MD2
vӟi M [Kg] OjNKӕLOѭӧng cӫa vұt thӇ.
D [m] Ojÿӝ dӏch chuyӇn cӫa vұt thӇ so vӟi trөFTXiQWtQK.
=> 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)
+uQK9 0RPHQWTXiQWtQK NKӕL KuQKKӝSFKӳQKұW
HӋ thӕQJÿӝng hӑc cӫa Quadrocopter ӣ hӋ SKѭѫQJWUuQK 2.31 ÿѭӧc viӃt trong
hӋ trөc B cӫDNKXQJ1KѭÿmÿӅ cұp, tham chiӃXQj\ÿѭӧc sӱ dөng rӝQJUmLWURQJP{
KuQKNKXQJFӭng 6 bұc tӵ GR7X\QKLrQWURQJWUѭӡng hӧSQj\VӁ hӳXtFKWURQJP{Wҧ
ÿӝng lӵc hӑc nӃXGQJKӋ kӃt hӧp giӳDSKѭѫQJWUuQKWX\ӃQWtQK[pWWKHRhӋ trөF(Yj
SKѭѫQJWUuQKJyF[pW WKHRKӋ trөF%9uYұ\FiFSKѭѫQJWUuQKVDXÿk\VӁ ÿѭӧc biӇu
diӉn trong hӋ trөc mӟi, tҥm gӑLOjKӋ trөF³ODL´+ K\EULG 7KDPFKLӃu mӟLQj\ÿѭӧc
chӑQYuQyGӉ WURQJP{Wҧ ÿӝng lӵc hӑc kӃt hӧp vӟLÿLӅu khiӇn (nhҩWOjWURQJ SKѭѫQJ
thҷQJÿӭng cӫa hӋ trөFWUiLÿҩW( 3KѭѫQJWUuQK(2.33) biӇu diӉn vector vұn tӕc tәng
TXiW[pWWURQJKӋ trөc H ȗ:
ȗ = [īÚ E ȦB] T = [XǗYǗZǗ] T (2.33)
HӋ thӕQJÿӝng lӵc hӑF[pWWKHRKӋ trөF+ÿѭӧc viӃt lҥLGѭӟi dҥng ma trұn theo
SKѭѫQJWUuQK(2.34):
MH ȗÚ + CH (ȗ) ȗ = GH + OH (ȗ + EH (ȟ 2 (2.34)
7URQJÿyȗÚOjYHFWRUJLDWӕc tәQJTXiW[pWWKHRKӋ trөc H.
Ma trұQTXiQWtQKKӋ thӕQJ[pWWKHRKӋ trөc H MH bҵng vӟi ma trұQÿy[pWWURQJ
hӋ trөF%ÿѭӧF[iFÿӏQKWKHRSKѭѫQJWUuQK 2.21 Yj 2.35):
26
MH = MB = ቂ
͵͵ Ͳ͵͵
Ͳ͵͵ ͵͵ቃ =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.35)
7UiLOҥi, ma trұQ&RULROLVKѭӟQJWkP[pWWURQJKӋ H CH (ȗ) NK{QJEҵng vӟi ma
trұn Coriolis ҩ\[pWWURQJKӋ trөF%QyÿѭӧF[iFÿӏQKWKHRSKѭѫQJWUuQK 2.36):
CH (ȗ) =
Ͳ͵͵ Ͳ͵͵
Ͳ͵͵ െሺ ɘሻ൨ =
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ Ͳ Ͳ
Ͳ
െ െ
Ͳ
െ Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.36)
Vector hҩp dүQ [pW WKHR KӋ trөc H GH ÿѭӧF ÿӏQK QJKƭD WURQJ SKѭѫQJ WUuQK
(2.37 &y WKӇ thҩ\ Oj Qy ҧQK KѭӣQJ ÿӃn cҧ SKѭѫQJ WUuQK WX\ӃQ WtQK WKD\ Yu FKӍ
SKѭѫQJWUuQKWKӭ QKѭWURQJWUѭӡng hӧSWUѭӟc.
GH = ቈ
E
GF
Ͳ͵ͳ
=
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ
Ͳ
െ
Ͳ
Ͳ
Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.37)
&iFKKLӋu ӭng con quay hӗi chuyӇQJk\EӣLFiQKTXҥWOjNK{QJÿәi, bӣLYuQychӍ
ҧQKKѭӣQJÿӃQSKѭѫQJWUuQKJyFTX\YjRKӋ trөc B. Ma trұQFiQKTXҥt hӗi chuyӇQ[pW
theo hӋ trөF+ÿѭӧF[iFÿӏQKWKHRSKѭѫQJWUuQK 2.25 Yj 2.38).
OH (ȗ = OB (Ȟ )
Ͳ͵ͳ
TPJ ቈ
െ
Ͳ
π ൌ TPJ
ۏ
ێ
ێ
ێ
ێ
ۍ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
Ͳ Ͳ
െ
െ
Ͳ Ͳ
െ
െ
Ͳ Ͳ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.38)
Ma trұn chuyӇQÿӝQJ[pWWKHRKӋ trөc H EH WKuNKiFYӟL[pWWURQJKӋ trөF%Yu
ͳҧQKKѭӣQJÿӃn cҧ SKѭѫQJWUuQKWX\ӃQWtQKTXDPDWUұn quay ȣ. KӃt quҧ cӫDWtFK
ma trұn chuyӇQÿӝng vӟi tӕFÿӝ FiFFiQKTXҥWÿѭӧc chӍ ӣ SKѭѫQJWUuQK 2.39):
EH (ȟ 2 = ቂ
ȣ Ͳ͵͵
Ͳ͵͵ ͵͵
ቃ EB 2 =
ۏ
ێ
ێ
ێ
ێ
ۍ
ሺɗɔ
ɗɅ
ɔሻͳ
ሺെ
ɗɔ ɗɅ
ɔሻͳ
Ʌ
ɔͳ
ʹ
͵
Ͷ ے
ۑ
ۑ
ۑ
ۑ
ې
(2.39)
Sҳp xӃp lҥLSKѭѫQJWUuQK 2.34 WDÿѭӧFÿҥRKjPYHFWRUYұn tӕc tәQJTXiWȗÚ[pW
theo hӋ trөc H:
ȗÚ = MHớ(െCH (ȗ) ȗ + GH + OH (ȗ) + EH (ȟ) 2) (2.40)
27
%LӇXGLӉQOҥLFiFELӇXWKӭFGѭӟLGҥQJKӋSKѭѫQJWUuQK
ە
ۖ
ۖ
ۖ
۔
ۖ
ۖ
ۖ
ۓX ൌ ሺɗɔ
ɗɅ
ɔሻ
ͳ
୫
Y ൌ ሺെ
ɗɔ ɗɅ
ɔሻ
ͳ
୫
Z ൌ െ ሺ
Ʌɔሻ
ͳ
୫
ሶ ൌ
୍
ି୍
୍
െ TP
J
୍
π ʹ୍
ሶ ൌ
୍
ି୍
୍
TP
J
୍
π ͵୍
ሶ ൌ
୍
ି୍
୍
Ͷ୍
(2.41)
Ĉk\FKtQKOjSKѭѫQJWUuQK1HZWRQ-Euler cӫDP{KuQKPi\ED\Quadrocopter.
7URQJÿyWӕFÿӝ ÿҫXYjRFӫDFiFFiQKquҥWFNJQJWѭѫQJWӵ QKѭWURQJKӋ trөc B,
ÿѭӧc cho ӣ SKѭѫQJWUuQK 2.32).
2.2.4 .Ktÿ͡QJK͕F
9LӋF WtQK WRiQNKtÿӝQJKӑFP{ Wҧ FiF WiFÿӝQJNKLTXD\ FӫD FiQKTXҥW WURQJ
NK{QJNKt+DLWK{QJVӕTXDQWUӑQJFҫQ[iFÿӏQKOjOӵFÿҭ\YjKӋVӕNpR
9LӋFWtQKWRiQÿѭӧFWKӵFKLӋQGӵDYjRSKkQWtFKYҩQÿӅ
- WKX\ӃWÿӝQJOѭӧQJ PRPHPWXPWKHRU\ - MT)
- WKX\ӃWFѫEҧQYӅFiQKTXҥW EODGHHOHPHQWWKHRU\ - BET)
D7KX\͇Wÿ͡QJO˱ͫQJ
&iQKTXҥWÿѭӧFKuQKGXQJQKѭOjPӝWÿƭDNKLTXD\O~FTXD\QyFXQJFҩSQăQg
OѭӧQJOrQNK{QJNKtYjQKұQOҥLOӵFSKҧQKӗL
*LҧWKX\ӃW
- 0ӝWӕQJWK{QJOѭӧQJNK{QJNKtTXDÿƭDTXҥWÿѭӧF[HPQKѭNK{QJFyWѭѫQJWiF
YӟLErQQJRjL
- ĈƭDTXҥWQj\FyY{VӕFiQKTXҥW
- ĈӝGj\FӫDÿƭDOjY{FQJQKӓ
- 9ұQWӕFWKHRSKѭѫQJÿӭQJFӫDNK{QJNKtTXDÿƭDOjOLrQWөF
- .K{QJNKtӣÿk\OjNKtOờWѭӣQJNK{QJEӏQpQ
7URQJP{KuQKQj\
TMT [N] OjOӵFÿҭ\FӫDFiQKTXҥWKѭӟQJOrQ
9ұQWӕFFӫDNK{QJNKtÿӃQFiQKTXҥWJӗP
v-f [m/s] YұQWӕFFұQWUrQ
v1 [m/s] YұQWӕFWiFGөQJWUӵFWLӃSSKtDWUrQÿƭD
v2 [m/s] YұQWӕFWiFGөQJWUӵFWLӃSSKtDGѭӟLÿƭD
v+f [m/s] YұQWӕFFұQGѭӟL
28
&iFiSVXҩWFӫDNK{QJNKtWiFGөQJOrQFiQKTXҥW
p-f [Pa] iSVXҩWFұQWUrQ
p1 [Pa] iSVXҩWWiFGөQJWUӵFWLӃSSKtDWUrQÿƭD.
p2 [Pa] iSVXҩWWiFGөQJWUӵFWLӃSSKtDGѭӟLÿƭD
p+f [Pa] iSVXҩWFұQGѭӟL
+uQK10 0{KuQKFiQKTXҥWWURQJWKX\ӃWÿӝQJOѭӧQJ
/ӵFÿҭ\FXQJFҩSEӣLFiQKTXҥWÿѭӧFWҥRUDWӹOӋYӟLKLӋXFӫDiSOӵFWUrQYj
GѭӟLÿƭD S1 YjS2).
TMT = A(p1 ± p2)
TMT = ሶ A (v-f - v+f) = UA A v1 (v-f - v+f)
7URQJÿy A [m2@OjGLӋQWtFKFӫDÿƭDTXҥW
ሶ A >NJV@OjÿӝWKD\ÿәLFӫDNKӕLOѭӧQJNK{QJNKtTXDÿƭD
UA [kg/m3@OjPұWÿӝNK{QJNKt
7KHRJLҧWKX\ӃWYұQWӕFNK{QJNKtSKtDWUrQÿƭDY1 EҵQJYӟLYұQWӕFErQGѭӟLÿƭD
v2&yWKӇYLӃWSKѭѫQJWUuQK%HUQRXOOLJLӳD-f YӟLSKҫQYjJLӳDSKҫQYӟLf QKѭ
sau:
p-f +
ଵ
ଶ
UA v-f2 = p1 +
ଵ
ଶ
UA v12
p2 +
ଵ
ଶ
UA v22 = p+f +
ଵ
ଶ
UA v+f2
6ҳS[ӃSOҥLSKѭѫQJWUuQKWUrQYj[HPQKѭS+f = p-f WDÿѭӧF
v1 = (v+f + v-f)/2
9ұQWӕFGzQJNKtQJD\WҥLÿƭD
vI = (v1 ± v-f) = (v+f ± v-f)/2
6X\UDSKѭѫQJWUuQKFӫDOӵFÿҭ\
29
TMT =2 UA A v1 vI
7URQJWUѭӡQJKӧSv-f = 0, suy ra v1 = vI
+ѫQQӳDGROӵFÿҭ\7MT = Wp =
ସ
WUӑQJOѭӧQJÿѭӧFPDQJEӣLFiQKTXҥW
WP = 2UA A vI2 ặ vI = ඥሺܹሻȀሺʹUሻ [m/s]
7ӹVӕOѭXOѭӧQJYjRȜ [-@OjPӝWÿҥLOѭӧQJÿѭӧFVӱGөQJÿӇOLrQKӋJLӳDYұQWӕF
GzQJFKҧ\YӟLYұQWӕFWҥLÿҫXFiQKTXҥW
Ȝ = vI / (ZH RP).
7URQJÿyZH OjYұQWӕFJyFFӫDFiQKTXҥWNKLKRYHU5P OjEiQNtQKFӫDQy
E7KX\͇WF˯E̫QY͉FiQKTX̩W
7KX\ӃWÿӝQJOѭӧQJÿӅFұSӣWUrQÿmFXQJFҩSQKӳQJWK{QJWLQTXDQWUӑQJYӅKRҥW
ÿӝQJFӫDPӝWFiQKTXҥWWX\QKLrQÿLYӅFKLWLӃWWKuYүQFzQNKiVѫVjL
'RÿyOӵF NKtÿӝQJKӑFYjPRPHQW[RҳQ WUrQPӝWFiQKTXҥWÿѭӧF[iFÿӏQKEҵQJ
FiFKVӱGөQJWKX\ӃWFѫEҧQYӅFiQKTXҥWNӃWKӧSYӟLPӝWVӕNKiLQLӋPÿӝQJOѭӧQJ
9ӟLSKѭѫQJSKiSQj\ OӵFYjPRPHQW[RҳQ ÿѭӧF WtQK WRiQEҵQJFiFK Oҩ\ WtFKSKkQ
ULrQJOӁWӯQJOӵFWiFÿӝQJOrQPӝWWKjQKSKҫQQKӓWUrQWRjQEӝFiQKTXҥW
+uQK2.11 ELӇXGLӉQPһWFҳWFӫDFiQKTXҥW
+uQK11 7KX\ӃWFѫEҧQYӅFiQKTXҥW
7URQJÿy
ĈѭӡQJ³+25,=21´YX{QJJyFYӟLWUөFFiQKTXҥW WURQJÿLӅXNLӋQKRYHU
TI [rad] JyFKӧSJLӳDÿѭӡQJQJDQJYӟLÿѭӡQJFKLD FiQKTXҥW
D >UDG@JyFKӧSEӣLÿѭӡQJFKLDFiQKTXҥWYӟLYHFWRUYұQWӕFGzQJNKtFөFEӝYT
30
vT [m/s] OjYHFWRUWәQJFӫDYHFWRUYH >PV@ YұQWӕFWKHRSKѭѫQJQJDQJ YjYV
>PV@ YұQWӕFWKHRSKѭѫQJÿӭQJ
ĭI >UDG@OjJyF tҩQ OѭXOѭӧQJGzQJNKtYjR
dDBET >1P@OjYLSKkQFӫDOӵFNpR
dLBET >1P@OjYLSKkQFӫDOӵFQkQJ
dFBET [N/m] OjYHFWRUWәQJFӫDG'BET YjG/BETOjYLSKkQFӫDOӵFNKtÿӝQJKӑF
dFBET FNJQJÿѭӧFFKLDOjPWKjQKSKҫQJӗPYLSKkQNKtÿӝQJKӑFWKHRSKѭѫQJÿӭQJ
dTBET>1P@YjSKѭѫQJngang dHBET[N/m].
9HFWRUYұQWӕFYv OjGRVӵFKX\ӇQÿӝQJFӫDGzQJNKtFӫDFiQKTXҥW
9HFWRUYұQWӕFYH OjGRYұQWӕFJyFFӫDOѭӥLFiQKTXҥW
vv = vI = ZP RP Ȝ
vH = ZP r = ZP RP (r/ RP)
7URQJÿy ZP OjYұQWӕFJyFFӫDFiQKTXҥW
3KѭѫQJWUuQKYLSKkQFӫDOӵFQkQJYjOӵFNpR
dLBET = 0.5 UA vH2 CL c dr.
dLBET = 0.5 UA vH2 CD c dr.
7URQJÿy CL[-@KӋVӕQkQJ&D[-@KӋVӕNpRF>P@ÿӝGjLWUXQJEuQKFӫDÿѭӡQJ
FKLDFiQKTXҥW
+ӋVӕ&L WKD\ÿәLWX\ӃQWtQKYӟLJyFa [rad-1@ĈӕLYӟLFiFFiQKPӓQJYjJyFWӟL
FӫDYHFWRUGzQJNKtÿӃQFiQKTXҥWQKӓWKua EҵQJʌ>UDG-1].
CL = a D =a (TI ± ĭI)
Ĉӝ[RҳQFӫDFiQKTXҥWÿѭӧFJLҧÿӏQKOjWKD\ÿәLWX\ӃQWtQKWUrQWRjQYzQJWUzQ
FiQKTXҥW9uYұ\P{KuQKJӗPKDLKҵQJVӕ]HURJyFWҩQ TIo >UDG@YjJyF[RҳQFӫDJyF
tҩQ TItw7DFySKѭѫQJWUuQKVDX
TI = TIo - TItw
ோ
+ѫQQӳDYұQWӕFJyFFӫDFiQKTXҥWOӟQKѫQQKLӅXVRYӟLWәQJOѭXOѭӧQJGzQJ
NKtTXDFiQKTXҥWĈӕLYӟLJyFQKӓWDÿӏQKQJKƭD[ҩS[ӍJyFGzQJNKtĭI:
ĭI =
௩
ு
.ӃW KӧS FiFSKѭѫQJWUuQKWUrQ WDFy
dLBET =
ଵ
ଶ
UA vH2a (TIo - TItw
ோ
-௩
) c dr
9L SKkQ OӵF theo SKѭѫQJ ÿӭQJ dTBET Fy WKӇ ÿѭӧF ÿѫQ JLҧQ NKL [ҩS [Ӎ EҵQJ
NK{QJYӟLJyF WҩQ ĭI QKӓNKLÿy
dTBET = dLBET cos ĭI - dDBET sin ĭI Đ dLBET
/ӵFQkQJ TBET >1@OjNӃWTXҧFXӕLFQJÿѭӧFWuPWKҩ\EҵQJFiFKOҩ\WtFKSKkQ
dTBET WUrQWRjQFiQKTXҥW+ҵQJVӕ1B [-] ljVӕFiQKFӫDFiQKTXҥW1B FiQKTXҥW
FyFiQK).
31
TBET = NB
ோ
(dTBET / dr)dr = NB UA a c ZP
2 RP3 șIo/6 - șItw/8 - Ȝ/4).
9L SKkQ OӵF WKHR SKѭѫQJngang dHBET Fy WKӇ ÿѭӧF ÿѫQ JLҧQ NKL [ҩS [Ӎ EҵQJ
NK{QJYӟLJyFĭI QKӓNKLÿy
dHBET = dDBET cos ĭI + dLBET sin ĭI Đ dDBET + dLBET
௩
ு
0RPHQW[RҳQFӫDFiQKTXҥW4BET >1P@OjNӃWTXҧFXӕLFQJÿѭӧFWuPWKҩ\EҵQJ
FiFKOҩ\WtFKSKkQG+BET WUrQWRjQFiQKTXҥW
QBET [Nm] = NB
ோ
((dBBET / dr) + (dLBET / dr)
௩
) r dr
= NB UA c ZP2 RP4 (CD/8 +a Ȝ șIo/6 - șItw/8 - Ȝ/4)
c. 9͉KuQKGiQJNKtÿ͡QJK͕c
ĈӇFyOӵFQkQJNKtÿӝQJKӑF WKu WKLӃWGLӋQYұW WKӇ FiQK SKҧLNK{QJÿӕL[ӭQJ
qua WUөFFKtQKYjÿѭӡQJELrQFӫDPһWWUrQSKҧLOӟQKѫQFӫDPһWGѭӟLQKӳQJYұWWKӇ
FyKuQKGҥQJWKLӃWGLӋQQKѭYұ\ÿѭӧFJӑLOjFyKuQKGҥQJNKtÿӝQJKӑF
+uQK12 +uQKGiQJNKtÿӝQJKӑFFӫDFiQK
.KLNK{QJNKt FKҧ\EDRTXDQKKuQKNKtÿӝQJ VӁ Fy OӵFQkQJ NKt ÿӝQJKӑFYj
ÿӗQJWKӡL[XҩWKLӋQOӵFFҧQ+uQKNKtÿӝQJKӑFQjRFKRKLӋXӭQJOӵFQkQJFjQJFDR
PjOӵFFҧQFjQJtWWKuÿѭӧFFRLOjFyKLӋXVXҩWNKtÿӝQJKӑFFjQJWӕW.
ĈӝFKrQKOӋFKiSVXҩWSKөWKXӝFYjRKuQKGҥQJWKLӃWGLӋQFiQKWӭFOjSKөWKXӝF
YjRKLӋXVXҩWNKtÿӝQJKӑFFӫDFiQKJyFWҩQ JyFFKҧ\FӫDNK{QJNKtWѭѫQJÿӕLYӟL
YұWNKtÿӝQJ YjYұQWӕFGzQJFKҧ\1KѭYұ\NKLYұQ WӕFGzQJFKҧ\ÿҥWÿӃQÿӝOӟQ
QjRÿyWKuFKrQKOӋFKiSVXҩWVӁÿӫÿӇWKҳQJWUӑQJOӵFYjYұWWKӇFyWKӇED\OrQÿѭӧF.
32
2.3 ĈLӅXNKLӇQÿӝQJFѫPӝWFKLӅXNK{QJFKәLWKDQ [3] [4]
7URQJ OƭQK YӵF Pi\ ED\ P{ KuQK WKѭӡQJ Vӱ GөQJ ÿӝQJ Fѫ NK{QJ FKәL WKDQ
EUXVKOHVV'&PRWRU ÿӇWUX\ӅQÿӝQJFKRFiQKTXҥW1JRjLUDÿӝQJFѫQj\FNJQJÿѭӧF
ӭQJGөQJUӝQJUmLWURQJQKLӅXOƭQKYӵFFӫDFXӝFVӕQJQKѭWURQJFiFәÿƭDPi\WtQK
Pi\QJKHQKҥFFiFEӝSKұQPi\PyFWURQJF{QJQJKLӋSFҫQWӕFÿӝTXD\FDR[HÿҥS
ÿLӋQ[HPi\ÿLӋQô
/RҥLÿӝQJFѫQj\FyQKLӅXѭXÿLӇP WӕFÿӝFDRPRPHQWOӟQÿӝEӅQFDRNK{QJ
EӏPzQFәJySYjNK{QJSKyQJWLDOӱDÿLӋQJk\WәQKDRQăQJOѭӧQJQKѭÿӝQJFѫPӝW
FKLӅXWK{QJWKѭӡQg.
ĈӝQJFѫPӝWFKLӅXNK{QJFKәLWKDQ JӑLWҳWOj%/'& FyWrQJӑLQKѭYұ\QKѭQJ
WKӵF FKҩW Qy WKXӝF QKyPÿӝQJ Fѫ ÿӗQJ Eӝ QDP FKkPYƭQK FӱX FKӭ NK{QJ SKҧL Oj
ÿӝQJFѫPӝWFKLӅXĈӝQJFѫÿӗQJEӝQDPFKkPYƭQKFӱXOjQKyPÿӝQJFѫ[RD\FKLӅX
ÿӗQJEӝURWRUTXD\FQJWӕFÿӝYӟLWӯWUѭӡQJTXD\FySKҫQFҧPOjQDPFKkPYƭQK
FӱX
'ӵDYjRFiFKVҳSÿһWSKҫQTXD\URWRUÿӝQJFѫ%/'&ÿѭӧFFKLDWKjQKORҥLOj
LQUXQQHUYjRXWUXQQHU
+uQK3 ĈӝQJFѫ%/'&LQUXQQHU
+uQK4 ĈӝQJFѫ%/'&RXWUXQQHU
33
9LӋFÿLӅXNKLӇQWӕFÿӝÿӝQJFѫ BLDC GӵDWUrQQJX\rQWҳF FҩS[XQJ WXҫQWӵ cho
FiFFXӝQGk\ ÿӇWҥRUD WӯWUѭӡQJTXD\. ĈӇWKӵFKLӋQF{QJYLӋFQj\ WDGQJPӝWEӝ
ÿLӅXWӕFFyWrQJӑL(6& Electronic Speed Controller)FKӭFQăQJQKѭPӝWEӝELӃQWҫQ
ELӃQÿәLÿLӋQiSPӝWFKLӅX WKjQKÿLӋQiS[RD\FKLӅXSKDFy WҫQVӕ WKD\ÿәLÿѭӧF
FXQJFҩSFKRÿӝQJFѫĈӇÿҧRFKLӅXÿӝQJFѫ, WDFKӍFҫQÿәLYӏWUtWURQJGk\pha.
7URQJNӃWFҩXFӫDÿӝQJFѫBLDC, nDPFKkPYƭQKFӱXÿѭӧFJҳQYjRrotor WҥR
WKjQKFiFSKDVDRFKRQyTXD\NKLFyWӯWUѭӡQJTXD\
+uQK5 6ѫÿӗÿҩXGk\ ÿӝQJFѫ%/'&Yj(6&
7URQJFiFP{KuQKPi\ED\ESC [iFÿӏQKWӕFÿӝÿLӅXNKLӇQGӵDYjRÿӝUӝQJ
[XQJFӫD WtQKLӋX3:0QKұQÿѭӧF'ҥQJ WtQKLӋX3:0Qj\ÿѭӧFTX\FKXҭQ WKHR
ÿӝQJFѫ5&VHUYRWӭFOjÿӝUӝQJ[XQJWURQJNKRҧQJ ãPVYjWҫQVӕÿLӅXNKLӇQOj
50Hz.
+uQK6 7tQKLӋX3:0ÿLӅXNKLӇQÿѭDYjR(6&
34
+uQK7 1JX\rQOờ WҥRGzQJSKD
ĈӇWҥRUDWӯWUѭӡQJTXD\FQJSKDYӟLQDPFKkP FӫDURWRU(6&SKҧLOX{QELӃW
ÿѭӧFYӏWUtFӫDQDPFKkPYƭQKFӱXYjYұQWӕFFӫDQy&yFiFKÿӇOjPÿLӅXQj\
- &iFKWKӭQKҩW 6ӱGөQJFҧPELӃQÿӇQKұQELӃWYӏ WUtFӫDURWRU FҧPELӃQKDOO
- &iFKWKӭKDL FҧPӭQJ1 WURQJSKDFӫD[XQJÿLӋQWӯWUѭӡQJ SKҧQKӗL (xung
BEMF ± Back ElectroMagnetic Field pulses).
&ҧKDLFiFKÿӅXFyѭXQKѭӧFÿLӇPULrQJWX\QKLrQKҫXKӃWFiFKӋWKӕQJÿӝQJFѫ
PӝWFKLӅXNK{QJFKәLWKDQVӱGөQJFKRP{KuQKED\ÿӅXGQJSKѭѫQJSKiSFҧPӭQJ
xung BEMF.
35
+uQK8 6ѫÿӗFKXӛL[XQJ
+uQK9 6ѫÿӗPҥFKÿLӋQ(6&GQJSKѭѫQJSKiSFҧPӭQJ%(0) [13]
7D WKҩ\UҵQJ WURQJPӝW WKӡLÿLӇPEҩWNu OX{Q OX{QFKӍFySKDGүQÿLӋQ. Khi
URWRU TXD\ FXӝQ Gk\ FӫD QDP FKkP ÿLӋQ FzQ OҥL FKѭD Fy ÿLӋQ VӁ WѭѫQJ WiF YӟL Wӯ
WUѭӡQJ FӫD QDPFKkPYƭQK FӱXYj SKiW VLQK QăQJ OѭӧQJJLӕQJQKѭPi\SKiW ÿLӋQ
(6&QKұQELӃW[XQJÿLӋQSKiWVLQK Qj\Yj[XQJÿLӋQSKҧQKӗLĈLӅXNKLӇQYұQWӕFFӫD
ÿӝQJFѫPӝW FKLӅXNK{QJFKәL WKDQEҵQJSKѭѫQJSKiSFҧPӭQJGӵD WUrQSKiWKLӋQ
36
WKӡLÿLӇPFӫDPӛLSKDWURQJNKRҧQJWKӡLJLDQJLӳD[XQJ ÿLӋQWKӃSKiWVLQKYj[XQJ
ÿLӋQSKҧQKӗL0өFÿtFKOjWuPWKӡLÿLӇPPjFҧFXӝQGk\FӫDQDPFKkPÿLӋQNK{QJ
FyÿLӋQYjWӯWUѭӡQJFӫDQDPFKkPYƭQKFӱXFNJQJFKѭDOjPFXӝQGk\SKiWÿLӋQĈyOj
ÿLӇPQҵPWURQJNKRҧQJ[XQJJLӳD[XQJÿLӋQWKӃSKiWVLQKYj[XQJÿLӋQSKҧQKӗLO~F
Qj\(6&ELӃWÿѭӧFYӏWUtFӫDPӛLQDPFKkPYƭQKFӱXYjVӱGөQJWK{Qg WLQQj\ÿӇFҩS
ÿLӋQ FKRQDPFKkPÿLӋQÿ~QJ O~F WҥRQrQPӝW Wӯ WUѭӡQJTXD\ VDRFKRFiF FһSFӫD
QDPFKkPYƭQKFӱXYjQDPFKkPÿLӋQÿӕLGLӋQKRһFOjÿҭ\QKDXKRһFOjK~WQKDXÿӇ
ÿӝQJFѫTXD\
1ӃX WD FҫQQDPFKkP ӣ URWRU TXD\QKDQKKѫQ WD VӁ WăQJ OӵF Wӯ WUѭӡQJ%ҵQJ
FiFK WăQJÿӝ UӝQJ[XQJ 3:0 Wӯ WUѭӡQJVӁPҥQKKѫQYj OjPmoment [RҳQ WăQJ
URWRUTXD\QKDQKKѫQ(6&WăQJWҫQVӕFҩS[XQJÿLӋQFKRQDPFKkPÿLӋQÿӇÿiSӭQJ
ÿ~QJ WKӡLÿLӇPFQJYӟL Vӵ WăQJ WӕFFӫD URWRU'Rÿy(6&SKҧL WăQJÿӝ OӟQFӫD Wӯ
WUѭӡQJWUѭӟFUӗLWLӃSWKHRWăQJWҫQVӕ[XQJ
2.4 %ӝOӑF.DOPDQ [5] [6]
2.4.1 .KiLQL͏PE͡O͕F
7UѭӟF WLrQ OӑF OjPӝWTXi WUuQK[ӱ OờQKҵP ORҥӏEӓQKӳQJJuNK{QJFyJLi WUӏ
KRһFNK{QJTXDQWkPÿӃQYjJLӳOҥLQKӳQJJuFyJLiWUӏVӱGөQJ 7URQJ[ӱOờWtQKLӋX
EӝOӑFÿѭӧFWKLӃWNӃÿӇOӑFWtQKLӋXVҥFK WtQKLӋXFҫQWuP WӯWURQJWtQKLӋXQKұQÿѭӧF
EDRJӗPWtQKLӋXVҥFKYjQKLӅXWtQKLӋXEҭQ NK{QJFҫQWKLӃW WUӝQOүQYӟLQKDX
9tGөÿѫQJLҧQOjWDFyWtQKLӋX6 VLJQDO WUӝQOүQYӟLQKLӉX1 QRLVH WURQJPӝW
WtQKLӋXWәQJKӧS;9jWDFҫQOӑFÿӇORҥLEӓ1UDNKӓL;
X(k)=S(k)+N(k)
1ӃX WDELӃW UҵQJQKLӉX1GDRÿӝQJ[XQJTXDQKYjFyJLi WUӏ WUXQJEuQK Oj
NKL0ÿӫOӟQ
0
)(
1 Ư
M
kNM
k
7DWKҩ\UҵQJÿӇORҥLEӓ1WDFyWKӇOҩ\WәQJFӫD;0OҫQ
ƯƯ
M
k
M
k
kSkX
11
)()(
1KuQӣPӝWNKtDFҥQKQjRÿyWDÿmORҥLEӓÿѭӧF1
7X\QKLrQFNJQJFҫQSKҧLFK~ờUҵQJEӝOӑFFyKRjQKҧRWӟLÿkXWKuFNJQJNK{QJ
WKӇORҥLKӃWWRjQEӝQKLӉX7KӃQrQFiFEӝOӑFFNJQJFKӍOӑFUDÿѭӧFWtQKLӋXVҥFKWKHR
QJKƭD NK{QJ FzQ QKLӅX QKLӉX QKѭQJ FNJQJ FKӍ Oj ѭӟF OѭӧQJ FӫD WtQ KLӋX WKӵF FKӭ
NK{QJSKҧLFKtQK[iF WtQKLӋXWKӵF
2.4.2 %͡O͕F.DOPDQOjJu"
7UѭӟF WLrQ .DOPDQ Oj WrQ FӫD QJѭӡL QJKƭ UD Eӝ OӑF Qj\ 9jR QăP 5(
.DOPDQÿmF{QJEӕEjLEiRQәLWLӃQJYӅPӝWJLҧLSKiSWUX\KӗLÿӇJLҧLTX\ӃWEjLWRiQ
OӑFWK{QJWLQUӡLUҥFWX\ӃQWtQK GLVFUHWHGDWDOLQHDUILOWHULQJ 7rQÿҫ\ÿӫFӫDEjLEiR
Oj"A New Approach to Linear Filtering and Prediction Problems" 7ӯÿyÿӃQQD\
FQJYӟLVӵSKiWWULӇQFӫDNӻWKXұWVӕEӝOӑF.DOPDQÿmWUӣWKjQKFKӫÿӅQJKLrQFӭX
37
V{LQәLYjÿѭӧFӭQJGөQJWURQJQKLӅXQJjQKNӻWKXұWF{QJQJKӋNKiFQKDXQKѭ trong
WӵÿӝQJKyDWURQJÿӏQKYӏFNJQJQKѭWURQJYLӉQWK{QJ YjQKLӅXOƭQKYӵFNKiFQӳD .
0ӝWFiFKNKiLTXiWEӝOӑF.DOPDQOjPӝWWұSKӧSFiFSKѭѫQJWUuQKWRiQKӑFP{
WҧPӝWSKѭѫQJSKiSWtQKWRiQWUX\KӗLKLӋXTXҧFKRSKpSѭӟFÿRiQWUҥQJWKiLFӫDPӝW
TXiWUuQK SURFHVV VDRFKR WUXQJEuQKSKѭѫQJVDLFӫDÿӝOӋFK JLӳDJLiWUӏWKӵFYjJLi
WUӏѭӟFÿRiQ OjQKӓQKҩW%ӝOӑF.DOPDQUҩWKLӋXTXҧWURQJYLӋFѭӟFÿRiQFiFWUҥQJ
WKiLWURQJTXiNKӭKLӋQWҥLYjWѭѫQJODLWKұPFKtQJD\FҧNKLWtQKFKtQK[iFFӫDKӋ
WKӕQJP{SKӓQJNK{QJÿѭӧFNKҷQJÿӏQK.
7URQJKӋWKӕQJFӫD(DJOHWtQKLӋXYjREӝOӑFJӗPKDLWtQKLӋX WtQKLӋXWӯFҧP
ELӃQJLDWӕFaccelerometer YjWtQKLӋXWӯFҧPELӃQYұQWӕFJyFgyroscope.
+uQK2.20 &iFKWKӭF[ӱOtWtQKLӋXFӫD EӝOӑF
0ӝWYtGөP{SKӓQJYӅEӝOӑF.DOPDQFKRPӝWPi\ED\FKLӃQÿҩX:
+uQK2.21 7tQKLӋXWKXÿѭӧFFKѭDÿѭӧFOӑFFӫDPi\ED\
7tQKLӋXFKѭDTXDEӝOӑF
7tQKLӋXÿmTXDEӝOӑF
38
2.4.3 %̫QFK̭WFͯDE͡O͕F.DOPDQ
7tQKLӋXÿR
0{KuQK
KӋWKӕQJ
%ӝOӑF
Kalman ệx
+uQK2.22 0{KuQKKyDEӝOӑF.DOPDQ
+uQK2.22 P{KuQKKyDKRҥWÿӝQJFӫDPҥFKOӑF.DOPDQ&K~QJWDFyWtQKLӋXÿR
ÿѭӧFFK~QJWDFyP{KuQKFӫDWtQKLӋXÿRÿѭӧF ÿzLKӓLWX\ӃQWtQK YjVDXÿyOjiS
GөQJYjRWURQJKӋWKӕQJSKѭѫQJWUuQKFӫDPҥFKOӑFÿӇѭӟFOѭӧQJWUҥQJWKiLTXDQWkP
7KӵFUDWtQKLӋXÿROjNK{QJNKySKѭѫQJWUuQKÿmFyVҹQFiLFK~QJWDFҫQFKtQKOj
P{KuQKKRiKӋWKӕQJĈӇFyWKӇӭQJGөQJPӝWFiFKKLӋXTXҧPҥFKOӑF.DOPDQWKu
FK~QJ WDSKҧLP{KuQKKyDÿѭӧFPӝWFiFK WX\ӃQ WtQKVӵ WKD\ÿәLFӫD WUҥQJ WKiLFҫQ
ѭӟFOѭӧQJ HVWLPDWH KRһFѭӟFÿRiQ SUHGLFW
%ӝOӑF.DOPDQÿѫQJLҧQOjWKXұWWRiQ[ӱOtWtQKLӋXKӗLTX\WӕLѭX&yQKLӅXFiFK
[iFÿӏQKWӕLѭXSKөWKXӝFYjRWLrXFKXҭQOӵDFKӑQWK{QJVӕÿiQKJLiĈLӅXQj\FKR
WKҩ\UҵQJEӝOӑF.DOPDQWӕLѭXÿӕLYӟLFiFFKLWLӃWFөWKӇWURQJEҩWNuWLrXFKXҭQFy
QJKƭDQjR0һWNKiFEӝOӑF.DOPDQKӧSQKҩWWҩWFҧFiFWK{QJWLQÿѭӧFFXQJFҩSWӟL
Qy1y[ӱOtWҩWFҧFiFJLiWUӏFyVҹQQJRҥLWUӯÿӝVDLVӕѭӟFOѭӧQJJLiWUӏKLӋQWKӡLFӫD
QKӳQJJLiWUӏFҫQTXDQWkP
2.4.4 4X\WUuQK˱ͣFO˱ͫQJ
%ӝOӑF.DOPDQÿӅFұSÿӃQEjLWRiQWәQJTXiWNKLѭӟFOѭӧQJWUҥQJWKiLFӫDPӝW
TXi WUuQKÿѭӧFP{KuQKKyDPӝWFiFK UӡL UҥF WKHR WKӡLJLDQEҵQJPӝWSKѭѫQJ WUuQK
QJүXQKLrQWX\ӃQWtQKWRiQQKѭVDX
1 1 1* * wk k k kx A x B u (1)
9jNӃWTXҧÿRÿҥF
kkk vxHz * (2)
0DWUұQA OjPDWUұQFKX\ӇQÿәLWӯWUҥQJWKiLN-VDQJWUҥQJWKiLNKD\PDWUұQ
ÿҥLGLӋQFKRSKѭѫQJWUuQKKӋWKӕQJ1ӃXYHFWRUWUҥQJWKiLx FyNtFKWKѭӟFOjQWKuPD
WUұQA VӁFyNtFKWKѭӟFOj Q[Q
0DWUұQB Q[O OjPDWUұQSKөWKXӝFYjRÿLӅXNKLӇQWӕLѭXu YӟLu OjYHFWRUFy
NtFKWKѭӟFOjl .
9HFWRUÿRÿҥF= FyNtFKWKѭӟFOj P[ QrQPDWUұQ+VӁOj P[Q YӟLPOjVӕ
ELӃQWURQJYHFWRUWUҥQJWKiLVӁÿѭӧFÿRÿҥF
7LӃS WKHRZ Yj Y Oj YHFWRU ELӃQ QJүX QKLrQ ÿҥL GLӋQ FKR QKLӉX KӋ WKӕQJ Yj
QKLӉX ÿR ÿҥF ELӃQ QJүX QKLrQ Qj\ ÿӝF OұS Yj ÿѭӧF JLҧ Vӱ Oj WXkQ WKHR SKkQ Eӕ
*DXVVYӟLWUXQJEuQKEҵQJYjPDWUұQKLӋSELӃQ FRYDULDQFH OҫQOѭӧWOj4Yj5
39
w~N(0,Q)
v ~N(0,R)
&K~ờUҵQJFiFPDWUұQ45$+FyWKӇWKD\ÿәLWKHRWKӡLJLDQ WӯQJEѭӟFN
QKѭQJӣÿk\FK~QJÿѭӧFJLҧVӱOjNK{QJÿәL
Ĉ͇Qÿk\ WD WK̭\EjL WRiQ O͕F.DOPDQFKtQK OjÿL WuPJLi WU͓˱ͣF O˱ͫQJYj˱ͣF
ÿRiQFͯD WU̩QJ WKiL [ NKL WDEL͇W ÿ˱ͫF VEL͇Q WKLrQ FͯDQyYj WD ÿRÿ˱ͫFP͡Wÿ̩L
O˱ͫQJ]PjSKͭWKX͡FWX\͇QWtQKYjR[.
9t Gө WURQJ EjL WRiQ FKX\ӇQ ÿӝQJ WD ELӃW ÿѭӧF TXL OXұW WKD\ ÿәL FӫD YұQ WӕF
QKѭQJWDOҥLFyWKӇÿRÿѭӧFVӵWKD\ÿәLFӫDYӏWUt.KLÿyFiLWDFҫQWuPOjYұQWӕFѭӟF
OѭӧQJ
1ӃXWDJLҧVӱ Yj OҫQOѭӧWOjWLӅQQJKLӋPYjWLӅQQJKLӋPѭӟFOѭӧQJFӫDJLi
trӏ[WҥLWKӡLÿLӇPN*LiWUӏWLӅQQJKLӋPWKXÿѭӧFFKӍGӵDYjRP{KuQKKӋWKӕQJ
FzQJLiWUӏKұXQJKLӋPOjJLiWUӏWKXÿѭӧFVDXNKLÿmFyNӃWTXҧÿRÿҥF .KLÿy
VDLVӕFӫDѭӟFÿRiQWLӅQQJKLӋPYjKұXQJKLӋPOҫQOѭӧWOj
kkk xxe ệ
kkk xxe ệ
0DWUұQKLӋSELӃQFӫDVDLVӕWUrQÿѭӧFWtQKOҫQOѭӧWWKHRF{QJWKӭc:
Tkkk eeEP
Tkkk eeEP
0өFÿtFKFK~QJWDEk\JLӡOjÿLWuPKӋVӕ.VDRFKRWKӓDPmQSKѭѫQJWUuQK sau:
kkkk xHzKxx ệ**ệệ (3)
3KѭѫQJ WUuQK FyQJKƭD OjJLi WUӏ KұXQJKLӋPFӫDѭӟF OѭӧQJ[ VӁÿѭӧF WtQK
EҵQJJLiWUӏWLӅQQJKLӋPFӫDQyYjVDXÿyWKrPKRһFEӟWÿLPӝWWtGӵDYjRVDLVӕJLӳD
JLiWUӏÿRÿѭӧFYjJLiWUӏÿRÿҥFѭӟFÿRiQ kxH ệ* .ӣÿk\FKtQKOjÿӝOӧL JDLQ FӫD
Eӝ OӑF.DOPDQ
&kXKӓLÿһWUDOjOjPWKӃQjRÿӇFKӑQ.WӕLѭXQKҩW7ӕLѭXӣÿk\WKHRQJKƭDOj
FRYDULDQFHFӫDVDLVӕFӫDѭӟFOѭӧQJKұXQJKLӋP WtQKWӯ kkk xHzKe ệ** OjQKӓQKҩW
%ҵQJFiFKWKD\Hk YjRWURQJELӇXWKӭFWtQK3kUӗLVDXÿyOҩ\ÿҥRKjPFӫD3k theo K, ta
VӁWuPUDÿѭӧFJLiWUӏ.PjWѭѫQJӭQJYӟLQy3k OjQKӓQKҩW
1)( RHHPHPK Tk
T
kk
Kk WKD\ ÿәL WKHR WKӡL JLDQ N Yj FKtQK Oj ÿӝ OӡL FҫQ WuP FӫDPҥFK OӑF.DOPDQ
WURQJPӛLѭӟFÿRiQ
7yPOҥLPҥFKOӑF.DOPDQEDRJӗPEѭӟF
1- ѬӟFÿRiQWUҥQJWKiLWLӅQQJKLӋP
2- 'ӵDYjRNӃWTXҧÿRÿӇKLӋXFKӍQKOҥLѭӟFÿRiQ7DFyWKӇWyPWҳWOҥLKRҥWÿӝQJ
FӫDPҥFKOӑF.DOPDQEҵQJFiFSKѭѫQJWUuQKVDX
40
*LҧVӱ ta ÿmFyJLiWUӏѭӟFÿRiQ 1ệ kx ӣWҥLWKӡLÿLӇP N- YjELӃWÿѭӧFJLiWUӏÿLӅX
NKLӇQ 1ku (gLi WUӏEDQÿҫXWҥL WKӡLÿLӇPÿѭӧFFKӑQ 00ệ zHx
/~Fÿy ta FKӍYLӋF
OҫQOѭӧWWLӃQKjQKFiFWtQKWRiQWӯÿӃQӣEѭӟF³SUHGLFW´ UӗLWӯÿӃQWURQJEѭӟF
³FRUUHFW´ QKѭWURQJKuQK2.23.
+uQK2.23 &iFEѭӟF[k\GӵQJEӝOӑF.DOPDQ
2.4.5 6RViQKFiFE͡O͕FYͣLE͡O͕F.DOPDQ
ĈӕLYӟLFiFEӝ OӑF WK{QJ WKҩS WK{QJFDRKRһF WK{QJGҧL WKѭӡQJÿѭӧFVӱGөQJ
FKRPӝW WtQKLӋXYjRYjPӝW WtQKLӋXUDYӟL WҫQVӕOjPYLӋF[iFÿӏQK1JRjLGҧL WҫQ
Qj\WtQKLӋXVӁEӏOӋFKSKDKRһFÿӝOӧLNK{QJFzQOjKҵQJVӕ'RÿyWURQJWUѭӡQJKӧS
VӱGөQJKDLFҧPELӃQÿRFQJPӝWJLi WUӏ OjJyF FNJQJQKѭYұQWӕFJyF WKuYLӋFVӱ
GөQJPӝWEӝOӑFWKөÿӝQJWӓUDNK{QJSKKӧS
+uQK2.24 *LҧQÿӗBode YjSKDFӫDEӝOӑFEұFQKҩW
41
7D Fy WKӇ GQJ Eӝ OӑF Eә SKө ÿӇ NӃW QӕL KDL WtQ KLӋX Wӯ J\URVFRSH Yj
DFFHOHURPHWHU WKjQKPӝW WtQKLӋXGX\QKҩW7tQKLӋX WӯDFFHOHURPHWHUÿѭӧFÿѭDTXD
PӝWEӝOӑFWK{QJWKҩSFzQWtQKLӋXWӯJ\URVFRSHTXDPӝWEӝOӑFWK{QJFDRWӯÿyKDL
WtQKLӋXÿѭӧFOӑFVӁQӕLYӟLQKDXWKjQKPӝWWtQKLӋXWKӕQJQKҩWѬXÿLӇPFӫDEӝOӑF
EәSKөOjWtQKWRiQQKDQKGӉWKLӃWNӃ1KѭӧFÿLӇPFӫDEӝOӑFQj\OjEҧQFKҩWYүQFӫD
Eӝ OӑF WK{QJFDRYjEӝ OӑF WK{QJ WKҩSFyQJKƭD Ojÿӝ OӧL WtQKLӋXNK{QJEҵQJQKDX
WURQJ WRjQ GҧL ÿR Eӏ OӋFK SKD WҥL YQJ QӕL WҫQ Vӕ +ѫQ QӳD WtQ KLӋX J\URVFRSH VӁ
NK{QJ ÿѭӧF FұS QKұW WKѭӡQJ [X\rQ GӉ OjP FKR Eӝ OӑFPҩW WiF GөQJ NKL OjP YLӋF
WURQJP{LWUѭӡQJUXQJÿӝQJKD\FyQKLӋWÿӝNKiFQKDX
7yPOҥLFiFEӝOӑFWK{QJWKѭӡQJOjPӝWNӻ WKXұWGQJSKҫQFӭQJ FiFPҥFKÿLӋQ
Wӱ5/& KRһFSKҫQPӅP OӑF),5,,5WURQJ[ӱOtWtQKLӋXVӕ OjQKҵPJLӳOҥLFiF
WtQKLӋXWURQJPӝWNKRҧQJWҫQVӕQjRÿyYjORҥLEӓWtQKLӋXӣFiFGҧLWҫQVӕFzQOҥL
7URQJFiFEӝOӑFQj\QӃXWӗQWҥLFiFWtQKLӋX QKLӉXWURQJGҧLWK{QJWҫQWKuNӃWTXҧ
WtQKLӋXWUӣQrQNpPÿLUҩWQKLӅXÿӇFyWKӇ[ӱOtYjÿLӅXNKLӇQKӋWKӕQJPӝWFiFKәQ
ÿӏQKĈLӅXQj\FjQJWӓUDUҩWWKӵFWӃÿӕLYӟLFiFEӝOӑFSKҫQFӭQJYӕQUҩWGӉEӏQKLӉX
EӣLFiFWtQKLӋXÿLӋQWURQJO~FKRҥWÿӝQJGR VӵNpPFKtQK[iFFӫDFiFOLQKNLӋQYjVӵ
EҩWWKѭӡQJFӫDGzQJÿLӋQQJ}YjR
+uQK2.25 9tGөVRViQKFiFWtQKLӋXӣQJ}YjR PjX[DQK NӃWTXҧ
QJ}UDӣEӝOӑFEәSKө PjXÿHQ YjӣEӝOӑF.DOPDQ PjXÿӓ
ĈӕLYӟLEӝOӑF.DOPDQWKXұW QJӳOӑFNK{QJPDQJờQJKƭDQKѭFiFEӝOӑFWUrQ
Ĉk\OjPӝWJLҧLWKXұWWtQKWRiQYjѭӟFOѭӧQJWKӕQJNrWӕLѭXWҩWFҧFiFWK{QJWLQQJ}
YjRÿѭӧFFXQJFҩSWӟLQyÿӇFyÿѭӧFJLiWUӏӣQJ}UDÿiQJWLQFұ\QKҩWFKRYLӋF[ӱOt
WLӃSWKHR'RYұ\EӝOӑF.DOPDQFyWKӇVӱGөQJÿӇORҥLEӓFiFWtQKLӋXQKLӉXWUrQWҩW
FҧFiFGҧLWK{QJPjQyQKұQÿѭӧFWӯQJ}YjRÿӝOӋFKSKDJҫQQKѭNK{QJWӗQWҥLYjFy
ÿӝOӧL[ҩS[ӍEҵQJÿӕLYӟLFiFWtQKLӋXQJ}YjRNK{QJÿiQJWLQFұ\
0һFGSKҧLWӕQQKLӅXWKӡLJLDQ[ӱOtOӋQKQKѭQJ YӟLWӕFÿӝKLӋQWҥLFӫDFiFYL
ÿLӅXNKLӇQKLӋQQD\YLӋFWtQKWRiQWӕLѭXFӫDEӝOӑFQj\WUӣQrQÿѫQJLҧQYjÿiQJWLQ
Fұ\KѫQUҩWQKLӅX1KӡFyFѫFKӃWӵFұSQKұWFiFJLiWUӏWҥLPӛLWKӡLÿLӇPWtQKWRiQ
FNJQJQKѭ[iFÿӏQKVDLOӋFKFӫDNӃWTXҧÿRWUѭӟFYjNӃWTXҧÿRVDXQrQJLiWUӏÿROX{Q
ÿѭӧFәQÿӏQKFKtQK[iFJҫQQKѭNK{QJEӏVDLVӕYӅÿӝOӧLYjÿӝOӋFKSKDFӫDFiFWtQ
KLӋX
+ѫQWKӃQӳDGRÿѭӧF[k\GӵQJEӣLKjPWUҥQJWKiLGRYұ\EӝOӑF.DOPDQFyWKӇ
NӃWKӧSNK{QJFKӍKDLWtQKLӋXWӯKDLFҧPELӃQPj FyWKӇNӃWKӧSÿѭӧFQKLӅXFҧPELӃQ
ÿRӣQKӳQJGҧLWҫQNKiFQKDXFӫDFQJPӝWJLiWUӏÿҥLOѭӧQJYұWOt&KtQKYuÿLӅXQj\
EӝOӑF.DOPDQWUӣQrQWK{QJGөQJKѫQWҩWFҧFiFEӝOӑFNKiFWURQJYLӋF[ӱOtWtQKLӋX
FKtQK[iFFӫDFiFFҧPELӃQWӑDÿӝFҧPELӃQODEjQ*36, gyroscope, ...
42
9ӟLQKӳQJNKҧQăQJWUrQFӝQJYӟLQKӳQJ\rXFҫXFӫDÿӅWjLEӝOӑF.DOPDQÿѭӧF
FKӑQÿӇ[ӱOtFiFWtQKLӋXWӯKDLFҧPELӃQÿѭDYӅÿӇFyÿѭӧFWtQKLӋXWӕWQKҩWәQÿӏQK
YjÿiQJWLQFұ\QKҩWFKRYLӋFÿLӅXNKLӇQKRҥWÿӝQJFӫD KӋWKӕQJ.
2.5 *LiPViW- ÿLӅXNKLӇQJLDRWLӃSPi\WtQKGQJSKҫQPӅPLabVIEW
2.5.1 7͝QJTXDQY͉LabVIEW
LabVIEW (/DERUDWRU\9LUWXDO,QVWUXPHQWDWLRQ(QJLQHHULQJ:RUNEHQFK OjPӝW
SKҫQPӅPPi\ WtQKÿѭӧFSKiW WULӇQEӣLF{QJ W\National Instruments, WUөVӣÿһW WҥL
0ӻ. LabVIEW FyQJ{QQJӳOұSWUuQKYӟLNKiLQLӋPKRjQWRjQNKiFVRYӟLFiFQJ{Q
QJӳOұSWUuQKWUX\ӅQWKӕQJQKѭQJ{QQJӳ&3DVFDO,... ÿyOjQJ{QQJӳOұSWUuQKÿӗ KӑD
KD\FzQJӑLOjOұSWUuQK*(YLӃWWҳWFӫD*UDSKLFDO
LabVIEW ÿѭӧFGQJQKLӅX WURQJFiFSKzQJ WKtQJKLӋP OƭQKYӵFNKRDKӑFNӻ
WKXұWQKѭWӵÿӝQJKyDÿLӅXNKLӇQÿLӋQWӱFѫÿLӋQWӱKjQJNK{QJKyDVLQKÿLӋQWӱ y
sinh, v.vô GQJÿӇNLӇPWUDÿROѭӡQJYjÿLӅXNKLӇQ
&iFFKӭFQăQJFKtQKFӫDLabVIEW:
- 7KXWKұSWtQKLӋXWӯFiFWKLӃWEӏErQQJRjLQKѭFҧPELӃQQKLӋWÿӝKuQKҧQKWӯ
ZHEFDPYұQWӕFFӫDÿӝQJFѫ
- *LDRWLӃSYӟLFiF WKLӃWEӏQJRҥLYL WK{QJTXDQKLӅXFKXҭQJLDRWLӃSWK{QJTXD
FiFFәQJJLDRWLӃS 565686%3&,(WKHUQHW
+uQK.KҧQăQJNӃWKӧSYӟLFiFSKҫQFӭQJFӫDLabVIEW
43
- 0{SKӓQJYj[ӱOờFiFWtQKLӋXWKXQKұQÿѭӧFÿӇSKөFYөFiFPөFÿtFKQJKLrQ
FӭXKD\PөFÿtFKFӫDKӋWKӕQJPjQJѭӡLOұSWUuQKPRQJPXӕQ
- ;k\GӵQJFiFJLDRGLӋQQJѭӡLGQJPӝWFiFKQKDQKFKyQJYj WKҭPPӻKѫQ
QKLӅXVRYӟLFiFQJ{QQJӳNKiFQKѭ9LVXDO%DVLF0DWLab,...
- &KR SKpS WKӵF KLӋQ FiF WKXұW WRiQ ÿLӅX NKLӇQ QKѭ 3,' /RJLF Pӡ )X]]\
/RJLF PӝWFiFKQKDQKFKyQJWK{QJTXDFiFFKӭFQăQJWtFKKӧSVҹQWURQJLabVIEW.
- &KRSKpSNӃWKӧSYӟLQKLӅXQJ{QQJӳOұS WUuQKWUX\ӅQWKӕQJQKѭ&&...
2.5.2 7uPKL͋XP͡WFK˱˯QJWUuQK LabVIEW
&KѭѫQJWUuQKLabVIEW ÿѭӧFOѭX OҥL YӟLSKҫQÿX{L Oj VI (Virtual Instrument).
0ӝWILOH *.9,FyKDLWKjQK SKҫQFKtQK Oj Front Panel Yj Block Diagram.
+uQK2.27 Front PDQHOYj%ORFNDLDJUDPWURQJPӝWFKѭѫQJWUuQKLabVIEW
6DXÿk\FK~QJ WDVӁFQJ WuPKLӇX WӯQJ WKjQKSKҫQQj\ WK{QJTXD PӝWFӱD Vә
OjPYLӋF LabVIEW ÿѫQJLҧQ:
- *LDRGL͏QFKtQK )URQWPanel): OjJLDRGLӋQQJѭӡLGQJFӫD QJ{QQJӳÿӗKӑD
LabVIEWEDRJӗPFiFQ~WÿLӅXNKLӇQ (controls) Yj WKjQKSKҫQFKӍ WKӏ (indicators)
ÿѭӧF KLӇQWKӏPӝWFiFKWUӵFTXDQVLQKÿӝQJ
44
+uQK2.28 Front panel
x Controls = Inputs QJ}YjR
x Indicators = Outputs QJ}UD
&iFLQSXWYjRXWSXWQj\ÿѭӧFOҩ\UDWӯEҧQJÿLӅXNKLӇQ, FKӭDÿӵQJ KҫXKӃWFiF
KjPSKәELӃQÿѭӧFVӱGөQJtrong ÿLӅXNKLӇQ
+uQK 2.29 &iFFKӭFQăQJ ÿLӅXNKLӇQ YjFKӍWKӏ trong Front Panel
- %L͋Xÿ͛NK͙L %ORFNDiagram): OjFӱDVәVRҥQ WKҧR FKRFKѭѫQJ WUuQKÿӗKӑD
1ӝLGXQJKLӇQWKӏJӗPFy
x &iFNKӕLFRQWUROYjLQGLFDWRU FӫDFKѭѫQJWUuQKFKtQK
x &iFÿѭӡQJ Gk\ OLrQNӃWWtQKLӋX.
45
+uQK30 Block Diagram
1JRjL UD, Block Diagram FzQFKӭDFiFKjP funtions) GQJ WURQJ WKLӃWNӃ WtQK
WRiQYjÿLӅXNKLӇQFiFKjPQj\VӁNK{QJKLӇQWKӏӣ)URQWPanel.
+uQK31 &iFKjPWURQJ%ORFN'LDJUDP
0jXGk\ OLrQNӃW WURQJQJ{QQJӳÿӗKӑDFӫDLabVIEW Oj NKiFQKDXFKRPӛi
NLӇXGӳOLӋX
+uQK32 0jXVҳFFӫDGk\GӳOLӋXWURQJLabVIEW
46
&+ѬѪ1* ;ặ<'Ӵ1*0é+ẻ1+QUADROCOPTER
3.1 6ѫÿӗNKӕLWәQJWKӇFӫDKӋWKӕQJ
Khung
Quadrocopter
Joysticks
9LÿLӅX
NKLӇQ
Pin 9V
Pin Lipo
9LÿLӅX
NKLӇQ
ESCs
Motors
&ҧP
ELӃQ
3KiW5) Thu RF
: QăQJOѭӧQJ
: WiFÿӝQJFѫKӑF
: ÿѭӡQJWtQKLӋX
RS-232
+uQK6ѫÿӗNKӕLWәQJWKӇFӫDKӋWKӕQJ
+ӋWKӕQJ QKuQFKXQJVӁFyNKӕLWKjQKSKҫQFKtQK
- .KӕLÿLӅXNKLӇQ JӗPFiFWKjQKSKҫQQKѭSLQ Volt FXQJFҩSQăQJOѭӧQJFiF
WD\MR\VWLFNÿLӅXNKLӇQNrQKWKURWWOH± roll ± pitch ± \DZYLÿLӅXNKLӇQYjEӝSKiWWtQ
KLӋXEҵQJVyQJ5)
- .KӕLP{KuQKQuadrocopter YӟL EӝWKX5)YLÿLӅXNKLӇQFKtQKFiFFҧPELӃQ
TXiQ WtQK ,08 FiF Eӝ ÿLӅX WӕF(6&Yj ÿӝQJ Fѫ%/'& SLQ/LWKLXP3RO\PHU OjP
QJXӗQQX{LFKXQJ
- .KӕLJLiPViW JӗPFyFәQJJLDRWLӃS56NӃWQӕLYӟL Pi\WtQK&KӭFQăQJ
WKXWKұS GӳOLӋXKLӇQWKӏ Yj[ӱOờWK{QJWLQFӫDNKӕLP{KuQKWURQJTXiWUuQKWLӃQKjQK
WKӵFQJKLӋP
47
3.2 7KLӃWNӃFѫNKt
3KҫQTXDQWUӑQJQKҩWNKL WKLӃWNӃFKӃWҥRFѫNKt Oj thanh QӕLJLӳDÿӝQJFѫYj
SKҫQ WUXQJ WkP FӫD Quadrocopter Ĉk\ Oj SKҫQ FKӏX OӵF ӭQJ VXҩW FKӫ \ӃX WUrQ
Quadrocopter QrQ\rXFҫXOj WtQKWRiQYjWKLӃWNӃ SKҧLWӕWPjYүQÿҧPEҧRWtQKWKҭP
PӻFӫDVҧQSKҭP
<rXFҫXFKXQJFӫDWKLӃWEӏ OjSKҧLQKҽYjÿҧPEҧRFKӏXӭQJVXҩWVӭFFăQJWӕW
QrQQKyPTX\ӃWÿӏQKVӱGөQJYұWOLӋXOjQK{PÿӇFKӃWҥo.
<rXFҫXWKӭKDLOjWUөFTXD\FӫDFiFFiQKTXҥWSKҧLWKұWVӵYX{QJJyFYӟLPһW
SKҷQJNKXQJFKӳWKұSÿӇNK{QJJk\UDFiF VDLVӕVRYӟL P{KuQKWRiQÿm[k\GӵQJ
1JRjLUDQuadrocopter SKҧLÿҧPEҧRNKRҧQJFiFKJLӳDFiFFiQKTXҥW ÿӫUӝQJ ÿӇ
FyWKӇFKX\ӇQÿӝQJÿѭӧF9uYұ\FKLӅXGjL l FӫDWhanh QӕLSKҧLOӟQKѫQ ÿѭӡQJNtQK
DFiQKTXҥW/ξʹ.
1KyPFKӑQFKLӅXGjL thanh QӕLOj20mm ӭQJYӟL'FiQKTXҥW= 254mm), VӱGөQJ
QK{PKӝSFyNtFK WKѭӟF[ PP ÿӝGj\.0mmFҳWEӓYұW OLӋXӣQKӳQJYQJ
NK{QJFKӏXӭQJVXҩWÿӇJLҧPNKӕLOѭӧQJYjWӕLѭXKyDWKLӃWNӃ.
3KҫQkKӟSQӕL WUXQJ WkP Fy QKLӋPYөNӃWQӕLFiQK WD\ WҥR WKjQKNKXQJFKӳ
WKұSFKRQuadrocopter&KLWLӃWÿѭӧFJLDF{QJWUrQPi\phay CNC YӟLSK{LQK{PWҩP
FyÿӝGj\PP<rXFҫXNӻWKXұWOjFiF OӛNKRDQSKҧL FKtQK[iFÿӇNK{QJOjPOӋFK
KD\FRQJYrQKFiFWD\QӕL. .KӟSQӕLWUXQJWkPÿѭӧFFӕÿӏQKEҵQJULYHWPP
+uQK3.2 7KLӃWNӃ GQJFҩXKuQKFKRQJFKyQJÿҭ\ SXVKHUSURSHOOHU
ӢWKLӃWNӃÿҫX WLrQP{KuQKVӱGөQJTXҥWFiQKYjDGDSWHU JLӳFiQK NLӇXEy
WUөF'RFiFFiQKTXҥWOҳSYjRWUөFÿӝQJFѫOjGӵDYjROӵFpSYjPDViWQӃXEҳWÿӝQJ
FѫYjRNKXQJWKHRFiFKWK{QJWKѭӡQJ, FiQKTXҥWQҵPErQWUrQÿӝQJFѫWKuNKLÿӝQJ
FѫTXD\QKDQKOӵFÿҭ\YjPRPHQW[RҳQVLQKUDFy[XKѭӟQJOjPFKRFiFFiQKTXҥW
48
Qj\ WUѭӧW UDNKӓL WUөFFyQJX\FѫSKiYӥ WtQKәQÿӏQKYjJk\KѭKҥLFKRP{KuQK
9uYұ\EҳWEXӝFSKҧLEҳWÿӝQJFѫ WKHRFiFKQJѭӧF OҥLGQJFҩXKuQKFKRQJFKyQJ
ÿҭ\FiFFiQKTXҥWQҵPErQGѭӟLÿӇÿҧPEҧRFKRWtQKәQÿӏQKYjDQWRjQFӫDP{KuQK
Sau mӝWNKRҧQJWKӡLJLDQED\WKӱQJKLӋPQKұQWKҩ\YӟLWKLӃWNӃQj\WUӑQJWkP
FӫDP{KuQKӣTXiFDRQҵPWUrQ Fҧ PһWSKҷQJOӵFQkQJFiFFiQKTXҥW1KѭYұ\ WKu
PӝWkhi EӏOӋFKNKӓLYӏWUt FkQEҵQJP{KuQKVӁFy[XKѭӟQJOұWQKjRÿӇÿѭDWUӑQJWkP
YӅYӏ WUtFkQEҵQJEӅQ 7KLӃWNӃNLӇXFKRQJFKyQJÿҭ\ Wӓ UDNK{QJFzQSKKӧSQy
OjPPҩWÿӝәQÿӏQKP{KuQKVӁNKyÿLӅXNKLӇQKѫQ
%ҧQWKLӃWNӃWKӭKDLFKX\ӇQVDQJFҩXKuQKGQJFKRQJFKyQJNpRÿmÿHPOҥLÿӝ
әQÿӏQKWӕWKѫQGFyOӋFKNKӓLYӏWUtFkQEҵQJWKuWUӑQJWkPFӫDP{KuQKVӁWӵNpRQy
WUӣOҥL
+uQK3.3 7KLӃWNӃ GQJFҩXKuQKFKRQJFKyQJNpR WUDFWRUSURSHOOHU
7X\Yұ\ WKLӃWNӃQj\YүQFzQ WLӅPҭQQKLӅXQJX\FѫNKLFiFFiQKTXҥWNK{QJ
ÿѭӧFOҳSPӝWFiFKFKҳFFKҳQOrQ WUөF ÿӝQJFѫ
+ѫQQӳDFiFÿӝQJFѫ%/'&NKLTXD\FyÿӝUXQJERDUGÿLӅXNKLӇQWUXQJWkP
JҳQFӭQJOrQP{KuQKVӁWUX\ӅQWRjQEӝUXQJÿӝQJQj\OrQFҧPELӃQJk\UDQKLӉXUҩW
OӟQWURQJWtQKLӋXWKXQKұQ
ẩSGөQJQKӳQJ WKD\ÿәL OrQ WKLӃWNӃ WKӭEDP{KuQKQuadURFRSWHUKLӋQ WҥLÿm
WKӓDPmQÿҫ\ÿӫQKӳQJ\rXFҫXÿһWUD
- 7UӑQJWkPWKҩSÿӇQkQJFDRÿӝәQÿӏQK
49
- &iFFiQKTXҥWEҳW³PӅP´OrQWUөFÿӝQJFѫEҵQJprop saver YӟLQKLӅXѭXÿLӇP
NK{QJEӏWUѭӧW WUrQWUөFQKѭDGDSWHUFNJFiQKtWEӏKѭKҥLGRVӵFӕKD\YDÿұSFiQK
TXҥWNKLTXD\FNJQJtWUXQJKѫQYY
- %RDUGÿLӅXNKLӇQWUXQJWkPÿѭӧFÿһWWUrQYzQJQKӵDÿmJLҧPÿѭӧFÿiQJNӇ
UXQJÿӝQJWiFÿӝQJOrQFҧPELӃQWtQKLӋXWKXQKұQQKӡÿyÿmFKtQK[iFKѫQ
+uQK3.4 0үXWKLӃWNӃ WKӭED
9͉WtQKWRiQÿ͡E͉Q
+uQK3.5 0{SKӓQJӭQJVXҩWFKRFҩXKuQKFKRQJFKyQJÿҭ\
50
+uQK3.6 0{SKӓQJӭQJVXҩWFKRFҩXKuQKFKRQJFKyQJNpR
+uQK3.7 0{SKӓQJFKX\ӇQYӏFKRFҩXKuQKFKRQJFKyQJÿҭ\
+uQK3.8 0{SKӓQJFKX\ӇQYӏFKRFҩXKuQKFKRQJFKyQJNpR
51
0{SKӓQJӭQJVXҩW YjFKX\ӇQYӏWUrQSKҫQPӅP6ROLGZRUNV FKӑQYұWOLӋXQK{P
WѭѫQJӭQJ Oj-7ÿһWQJjP WҥL FiFÿLӇP OLrQNӃWYӟL WҩPQӕL KӋ Vӕ DQ WRjQ
EҵQJOӵFNpRWѭѫQJӭQJYӟLF{QJVXҩWFӵFÿҥLFӫDÿӝQJFѫOj1
.ӃWTXҧP{SKӓQJFKR WKҩ\ WUrQFiF WKDQKQӕL NK{QJ[XҩWKLӋQYQJӭQJVXҩW
QJX\KLӇPĈLӇPSKҧLFKӏXӭQJVXҩWFDRQKҩWOjÿLӇPJLiSYӟLQJjPFKӍӣPӭF40%
NKҧQăQJ QJX\KLӇP1JRjLUDNӃWTXҧP{SKӓQJFzQFKRWKҩ\QKӳQJSKҫQYұWOLӋXEӏ
FҳWEӓÿmNK{QJKӅҧQKKѭӣQJWӟLÿӝEӅQFӫDWKDQK
7ҥLELӇXÿӗ FKX\ӇQYӏFyWKӇWKҩ\FKX\ӇQYӏOӟQQKҩWWKDQKSKҧLFKӏXOjPP,
WURQJÿyFKX\ӇQYӏWҥLYӏWUtÿһWÿӝQJFѫ Oj PP*LiWUӏ FKX\ӇQYӏ Qj\ UҩWQKӓQrQ
VӁNK{QJJk\ UDQKLӅX VDLOӋFKVRYӟLP{KuQKWRiQNewton-Euler ÿm[k\GӵQJ
+uQK3.9 0{KuQKPi\ED\4XDGURFRSWHUWKӵFWӃ
Ӣ WKLӃW NӃ VDX FQJ WUrQP{ KuQK WKӵF WӃ FiF YzQJ ÿӋP ÿѭӧF WKD\ EҵQJ EӕQ
WKDQK[ӕSÿӇFyKLӋXTXҧJLҧPUXQJWӕWKѫQ
3.3 7KLӃWNӃKӋWKӕQJÿLӅXNKLӇQ
&iF\rXFҫXNKLWKLӃWNӃ KӋWKӕQJÿLӅXNKLӇQ:
- 7ӕFÿӝ[ӱOờSKҧLQKDQKOX{QӣPӭFFDRQKҩWFyWKӇ
- .KҧQăQJ[ӱOờWtQKLӋXSKҧLWӕWORҥLEӓWӕLÿD QKLӉX[XҩWKLӋQWURQJTXiWUuQK
ÿLӅXNKLӇQ
- 7tQKәQÿӏQKYj ÿӝEӅQFDR
7KHRÿy KӋ WKӕQJÿLӅX NKLӇQ WUrQQuadrocopter VӁ EDR JӗPFiF NKӕL YӟL FiF
FKӭFQăQJ QKLӋPYө ULrQJQKѭVDX
52
3.3.1 7D\ÿL͉XNKL͋Q
+uQK3.10 6ѫÿӗNKӕLWD\ÿLӅXNKLӇQ
1KLӋPYөFӫDWD\ÿLӅXNKLӇQOjSKiWWtQKLӋXÿLӅXNKLӇQWUrQNrQKFKtQK\ӃXOj
WKURWWOH\DZSLWFKUROOÿӃQERDUGWUXQJWkPÿӇÿLӅXNKLӇQP{KuQKED\WKHRờPXӕQ
9ӅYҩQÿӅFKXҭQJLDRWLӃSQKyPÿmFKӑQWUX\ӅQWK{QJ 8$57WKD\YuVӱGөQJ Nӻ
WKXұW Y{ WX\ӃQ WUҧLSKә (Spread Spectrum WҫQVӕ)0*+]YӕQ WK{QJGөQJWURQJ
OƭQKYӵFP{KuQKÿLrXNKLӇQQj\YuQKӳQJ OờGRYӅNLQKSKtNLQKQJKLӋPVӱGөQJ
NKҧQăQJ ӭQJGөQJ PӣUӝQJ YjSKiWWULӇQVDXQj\FӫDÿӅWjL 1KyPÿm[k\GӵQJPm
ÿLӅXNKLӇQGӵDWUrQWUX\ӅQWK{QJ8$57VӕNrQKÿLӅXNKLӇQYjWtQKLӋXÿLӅXNKLӇQVӁ
GӉGjQJWKD\ÿәLPjNK{QJFҫQFDQWKLӋSQKLӅXYjRSKҫQFӭQJFNJQJQKѭSKҫQPӅP
+uQK3.11 6ѫÿӗQJX\rQOờWD\ÿLӅXNKLӇQ
53
+uQK3.12 %RDUGÿLӅXNKLӇQ
9ӟLPөFÿtFK[k\GӵQJPӝWP{KuQKED\FyNKҧQăQJWӵFkQEҵQJ WKu WKLӃWEӏ
ÿLӅXNKLӇQVӁÿyQJYDLWUzKӛWUӧGRÿyWtQKLӋXÿLӅXNKLӇQFNJQJNK{QJFҫQSKҧLFyWҫQ
VӕFDRKD\OjÿӝSKkQJLҧLOӟQӢÿk\VӱGөQJEӝ$'&-ELWÿӑFÿLӋQiSÿLӅXNKLӇQWӯ
FiFMR\VWLFNTX\ÿәLVDQJGҥQJPm$6&,,LQÿѭӧFYjWUX\ӅQÿӃQPҥFKWUXQJWkPQҵP
WUrQ4XDGURFRSWHUĈӝSKkQJLҧLWUrQPӛLNrQKWtQKLӋXOj WҫQVӕWUX\ӅQOj+]
3.3.2 0̩FKWUXQJWkP
+uQK0ҥFKWUXQJWkPWUrQP{KuQK4XDGURFRSWHU
54
+uQK3.14 6ѫÿӗNKӕLPҥFKWUXQJWkP
&iFQKLӋPYөFӫDPҥFKWUXQJWkP
- QKұQWtQKLӋX KRҥWÿӝQJ WӯWD\ÿLӅXNKLӇQ
- [ӱOờWtQKLӋXWӯFҧPELӃQ ,08 J\URVFRSHYjDFFHOHURPHWHU ÿӇFyÿѭӧFWK{QJ
VӕWUҥQJWKiLFӫDP{KuQK
- [XҩWWtQKLӋXÿLӅXNKLӇQ WѭѫQJӭQJUDFѫFҩXFKҩSKjQK EӝÿLӅXWӕF- ÿӝQJFѫ .
- WUX\ӅQFiFWK{QJVӕWUҥQJWKiLKRҥWÿӝQJOrQPi\WtQKFKRPөFÿtFKJLiPViW
55
+
uQ
K
6
ѫ
ÿӗ
Q
JX
\r
Q
Oờ
P
ҥF
K
WU
XQ
J
Wk
P
56
+uQK3.16 %RDUGWUXQJWkP
9uQKӳQJ OờGRQKѭÿӝәQÿӏQKFӫD WtQKLӋX WUX\ӅQ WLӃWNLӋPQăQJ OѭӧQJKRҥW
ÿӝQJPj WD\ÿLӅXNKLӇQNK{QJQKҩW WKLӃW SKҧL Fy WҫQ Vӕ WUX\ӅQ FDRQKѭ WҫQ VӕKRҥW
ÿӝQJ WҥL PҥFK WUXQJ WkP 'R ÿy PҥFK WUXQJ WkP FҫQ Fy WKrP PӝW YL ÿLӅX NKLӇQ
ATmegaÿyQJYDLWUzOjPEӝÿӋP
ATmega8 VӱGөQJ WҫQVӕ[XQJFORFN MHz ÿӇNK{QJJk\ra VDLVӕWӕFÿӝ
Baud khi WUX\ӅQWK{QJ UART, QKұQWtQKLӋXWҫQVӕ+]WӯWD\ÿLӅXNKLӇQÿӗQJWKӡL
ÿyQJYDL WUz OjPEӝ WҥR[XQJKRҥWÿӝQJNKL WUX\ӅQ OҥL YӟL WҫQ Vӕ+]FKRYLÿLӅX
NKLӇQFKtQK.KLFy OӛLKRһFEӏ JLiQÿRҥQWtQKLӋXWӯWD\ÿLӅXNKLӇQ, ATmegaVӁOҩ\
JLiWUӏFXӕLFQJQKұQÿѭӧFWLӃSWөFWUX\ӅQFKRYLÿLӅXNKLӇQFKtQK
9LÿLӅXNKLӇQ FKtQKATmega VӱGөQJ[XQJFORFNFy WҫQ Vӕ FDRQKҩW Oj
0+]ÿӇQkQJFDRKLӋXVXҩW[ӱOờGQJEӝ$'&-ELWÿӇÿӑFWtQKLӋXFӫDFҧPELӃQ
VDXNKL[ӱOờ EҵQJEӝOӑF VӁ[XҩWWtQKLӋXÿLӅXNKLӇQ WѭѫQJӭQJ ÿӃQWӯQJÿӝQJFѫTXD
NrQK3:0ÿӝFOұS-bit.
1JRjLUDFzQFyFKӭFQăQJNLӇPWUDÿLӋQiSSLQӣNrQK$'&GQJ/('QKҩS
QKi\FҧQKEiRNKLSLQ\ӃX
57
.KӕLJLDR WLӃS56YӟLPi\ WtQKÿѭӧF WiFK ULrQJÿӇJLҧPNKӕL OѭӧQJERDUG
WUXQJWkP.
+uQK3.17 %RDUGJLDRWLӃS56
3.3.3 Module RF
0RGXOH WKX SKiW 5) WҫQ Vӕ 915MHz GQJ WUX\ӅQ WK{QJ UART 8-bit, WӕF ÿӝ
WUX\ӅQ OrQÿӃQ19200bps, cyNKҧQăQJOLrQOҥFWӕWWURQJSKҥPYLP.
+uQK3.18 Module RF VӱGөQJ WUX\ӅQWK{QJ UART
%ҧQJ3.1 0{WҧFiFFKkQNӃWQӕLFӫDPRGXOH5)
58
3.3.4 &̫PEL͇Q,08
IMU (Inertial Measurement Unit OjPӝW ÿѫQYӏÿROѭӡQJTXiQWtQKVӱGөQJNӃW
KӧSFiFDFFHOHURPHWHUYjJ\URVFRSH, FyFKӭFQăQJÿѭDUD6 WUҥQJWKiLFӫDKӋWKӕQJ:
JyFQJKLrQJ[RD\OӋFK Yj YұQWӕFJyFWKHRWUөF;<=.
ĈӇÿR WUҥQJ WKiL FKX\ӇQÿӝQJ FӫDP{KuQK WUrQPҥFK WUXQJ WkP VӱGөQJNKӕL
IMU 5 EұFWӵGR(JӗP J\URVFRSHWUөFIDG650DFFHOHURPHWHUWUөF00$/)
YjPӝW gyro ÿѫQWUөFLISY300AL ÿӇ ÿREұFWӵGRFzQOҥL.
+uQK3.19 ,08EұFWӵGRYjJ\URVFRSHLISY300AL
%ҧQJ3.2 &iFWK{QJVӕNӻWKXұWFӫDFҧPELӃQ
7K{QJVӕ LISY300AL IDG650 MMA7361L
ĈLӋQiSKRҥWÿӝQJ 3.3 V 3.3 V 3.3 V
7ҫPÿR 00 o/s 2000
o/s
440 o/s
1.5 g
6.0 g
ĈӝQKҥ\ 3.3 mV/ o/s 0.5 mV/
o/s
2.27 mV/ o/s
800 mV/g
206 mV/g
7ҫQVӕFӝQJKѭӣQJ 4.5 KHz 25 KHz 6.0 KHz
7ҫQVӕÿiSӭQJ / / 400 Hz
*LiWUӏJyFFӫD DFFHOHURPHWHUUҩWGӉEӏQKLӉXEӣLQKӳQJUXQJÿӝQJFӫDP{KuQK,
WURQJNKLJLiWUӏYұQWӕFJyFFӫDJ\URVFRSHOҥLUҩWtWELӃQÿӝQJGRQKLӉX ORҥL Qj\. Tuy
QKLrQQӃXFKӍGQJJ\URÿѫQWKXҫQWKuVӁGүQÿӃQOӛLWtFKONJ\%ӣLYuKӋWKӕQJÿӏQK
KѭӟQJNLӇXQj\ OLrQ WөF FұSQKұW WKD\ÿәL VRYӟLYӏ WUt WUѭӟFÿy EҩWNǤ VDL VyWQjR
WURQJÿRÿҥFGOjUҩWQKӓFNJQJVӁÿѭӧFWtFKONJ\YjRQKӳQJFұSQKұWVDXQj\Jk\ ra
KLӋQWѭӧQJ³WU{L´OjPWăQJGҫQÿӝVDLOӋFKJLӳDWUҥQJWKiLPjFҧPELӃQÿӏQKKѭӟQJVR
YӟLWUҥQJWKiLWKӵFWӃ
ĈӇORҥLEӓ QKLӉXUXQJÿӝQJQj\FҫQSKҧLNӃWKӧS JLiWUӏJyFFӫDDFFHOHURPHWHU
YӟL YұQWӕFJyFÿӑFWӯ gyroscope ÿѭDYjR EӝOӑFWKXұWWRiQ.DOPDQWuPUDJLiWUӏ JҫQ
YӟLJLiWUӏWKӵFәQÿӏQKYjÿiQJ WLQFұ\KѫQÿӇGQJWURQJÿLӅXNKLӇQ KRҥWÿӝQJFӫD
KӋWKӕQJ.
59
3.3.5 Ĉ͡QJF˯%/'&Yj%͡ÿL͉XW͙F(6&
TUrQWKӏWUѭӡQJFyQKLӅXORҥLÿӝQJFѫ PӝWFKLӅX NK{QJFKәLWKDQYӟLF{QJVXҩW
YjOӵFQkQJNKiFQKDXӢÿk\VӱGөQJORҥLÿӝQJFѫFC2835-10T FyVӭFQkQJWӕLÿD
1.2Kg.
+uQK3.20 Brushless motor FC2835-10T
ĈӝQJFѫ BLDC FC2835-10T Oj ORҥLRXWUXQQHU EҳW OrQP{KuQK WKHR NLӇX UHDU
PRXQWFyURWRUOjYӓErQQJRjLJҳQFiFQDPFKkPYƭQKFӱXTXD\WUzQWKHRWUөFÿӝQJ
FѫFzQVWDWRUOjO}LPDQJFiFFXӝQGk\ÿӭQJ\rQ
%ҧQJ3.3 TK{QJVӕNӻWKXұW FӫDÿӝQJFѫ)&-10T
STT 7K{QJVӕ *LiWUӏ
1 9ұQWӕF YzQJ9ROWSK~W
2 ĈLӋQ iSKRҥWÿӝQJ ã 9ROW
3 'zQJÿLӋQFӵFÿҥL 25 (Ampere)
4 /ӵFQkQJWӕLÿD 1200 (gram)
5 .tFKWKѭӟFFiQKTXҥW < 10x7 (inch)
+DLORҥLFiQKTXҥW FyNtFKWKѭӟF SKKӧSYӟLÿӝQJFѫÿmVӱGөQJWURQJP{KuQK
+uQK21 &iQKTXҥW*:6EP-1060Rx3
60
+uQK22 &iQKTXҥWEPP1045
&iQK TXҥW GQJ FKRQuadURFRSWHU Oj ORҥL WӕF ÿӝ WKҩS VORZ IO\er). 1JRjL ORҥL
FiQKtractor WK{QJGөQJ FzQJӑLOjFiQK&&:FRXQWHUFORFNZLVH , QuadURFRSWHUFҫQ
FyFiQKSXVKHU FzQJӑL OjFiQK&:FORFNZLVH TXD\ WKHRFKLӅXQJKӏFK OҥLÿӇ WULӋW
WLrX FiFPRPHQW[RҳQ VLQK UD. &iQK(33ÿѭӧF VӱGөQJ UҩW SKәELӃQ WURQJFiF
P{KuQKPXOWL-URWRU7X\QKLrQÿk\NK{QJSKҧL Oj ORҥLFiQKWӕWQKҩW&iQK$3&Yj
FiQK*UDXSQHUFyÿӝFӭQJÿӝEӅQYjÿӝәQÿӏQKFDRKѫQOjOӵDFKӑQWKtFKKӧScho
FiFP{KuQKFyNKӕLOѭӧQJWUrQ.J[9]
&K~ờ: SKҧL FkQFKӍQK OҥL WUӑQJ WkP FiQK cho WKұW FkQEҵQJ WUѭӟFNKL OҳS YjR
ÿӝQJFѫÿӇJLҧPUXQJ.
ĈӇÿӝQJFѫ BLDC KRҥWÿӝQJÿѭӧFFҫQFyEӝÿLӅX WӕF(6& (OHFWURQLF6SHHG
&RQWUROOHU ELӃQÿәLÿLӋQiSPӝWFKLӅXWKjQKÿLӋQiS[RD\FKLӅXSKDFXQJFҩSFKR
ÿӝQJFѫ (6&FyGk\QJXӗQYjRÿѭӧFQӕLYӟLSLQ/LWKLXP3RO\PHU9QJ}
YjRÿLӅXNKLӇQ JӗPGk\ÿLӋQiS9Gk\PDVVYjGk\WtQKLӋX3:0 NӃWQӕLYӟL
YLÿLӅXNKLӇQWUrQPҥFK WUXQJWkP
+DLORҥL(6& ÿm GQJWURQJP{KuQK
+uQK3.23 ESC HiModel GX-40A
%ҧQJ3.4 TK{QJVӕNӻ WKXұWFӫDESC HiModel GX-40A
STT 7K{QJVӕ *LiWUӏ
1 ĈLӋQiSKRҥWÿӝQJ ã(Volt)
2 'zQJÿLӋQFҩSFӵFÿҥL ã $PSHUH
3 BEC (battery eliminator circuit) 2A / 5V
4 7ҫQVӕÿLӅXNKLӇQSKD 8KHz
5 Programmable No
61
+uQK3.24 ESC Hobbywing Pentium 30A
%ҧQJ3.5 TK{QJVӕNӻ WKXұWFӫD(6&Hobbywing Pentium 30A
STT 7K{QJVӕ *LiWUӏ
1 ĈLӋQiSKRҥWÿӝQJ 5.6 ã6.8 (Volt)
2 'zQJÿLӋQFҩSFӵFÿҥL ã $PSHUH
3 BEC (battery eliminator circuit) 2A / 5V
4 7ҫQVӕÿLӅXNKLӇQSKD 8KHz
5 Programmable Yes
3K˱˯QJ SKiSÿL͉XNKL͋Qÿ͡QJF˯NK{QJFK͝LWKDQbrushless DC motor:
1KѭÿmJLӟL WKLӋXӣ WUrQÿӝQJFѫPӝWFKLӅXNK{QJFKәL WKDQ ÿѭӧFÿLӅXNKLӇQ
EҵQJEӝÿLӅXWӕF(6& FyFKӃÿӝWӵEҧRYӋNKLTXiWҧLEiRKLӋXNKLQJXӗQSLQNK{QJ
ÿӫKRһFNK{QJFyWtQKLӋXÿLӅXNKLӇQ 9ӟLWK{QJVӕNӻWKXұWÿmWUuQKEj\ӣFKѭѫQJ
FKX NǤ [XQJ \rX FҫX ÿѭD YjR FKkQ WtQ KLӋX FӫDESC Oj PV ÿӝ UӝQJ [XQJ GXW\
F\FOH OjWӯ.0PVÿӃQ.0PV1JRjLNKRҧQJWtQKLӋXQj\(6&VӁNK{QJKRҥWÿӝQJ QrQ
WURQJFKѭѫQJWUuQKEҳWEXӝFSKҧLFyNKӕQJFKӃJLiWUӏYӟLPLQOj.0PVPD[Oj.0ms.
ATmega12Kӛ WUӧ2 Timer 16-ELWYӟL6 NrQK ÿLӅXNKLӇQ3:0 ÿӝF OұSFyÿӝ
FKtQK [iF FDR, QKѭ Yұ\ Fy WKӇ ÿLӅX NKLӇQ ÿӝF OұS ÿӝQJ Fѫ BLDC WUrQP{ KuQK
Quadrocopter Qj\.
0ӝWOѭXờNKLVӱGөQJOjNK{QJÿѭӧFSKpSWăQJJLiWUӏGXW\F\FOHPӝWFiFKÿӝW
QJӝW9uQKѭYұ\NKҧQăQJ[ӱOờWtQKLӋXFӫDEӝGULYHUNK{QJÿiSӭQJNӏSGӉJk\UD
OӛLWtQKLӋXYjPҩWNLӇPVRiW.
3.4 ;k\GӵQJWKXұWWRiQÿLӅXNKLӇQ
6ѫÿӗNKӕLKӋ ÿLӅXNKLӇQ FkQEҵQJ
_ ĈLӅXNKLӇQPID ESC ĈӝQJFѫ
&ҧPELӃQ
IMU
Quadro-
copter
*yFÿһW
ș, ij=0
*yFWKӵF
ș, ij
Sai
Vӕ PWM
7ҫQ
Vӕ
3
pha
+uQK3.25 &ҩXWU~FKӋ ÿLӅXNKLӇQ
62
+uQK3.26 6ѫÿӗNKӕLWtQKLӋXÿLӅXNKLӇQKRjQFKӍQK
7URQJVѫÿӗÿLӅXNKLӇQ Qj\P{KuQKVӁWӵÿLӅXFKӍQKWUҥQJWKiLFKRSKKӧSYӟL
FiFWK{QJVӕÿLӅXNKLӇQ ÿӝFDRFiFJyFUROOSLWFK\DZ .
'RÿһFÿLӇP ÿLӅXNKLӇQ FӫDPӛLWK{QJVӕQj\ Oj NKiFQKDXQrQKjPKLӋXFKӍQK
3,'WѭѫQJӭQJFӫDFK~QJFNJQJFyKӋVӕNKiFQKDX
+LӋQWҥLGRYLӋFWKXQKұQFiFWK{QJVӕWUҥQJWKiLFӫDP{KuQKFzQFKѭDWӕW WtQ
KLӋX QKұQÿѭӧFFzQEӏ WiFÿӝQJ QKLӅXEӣLQKLӉX, QrQP{KuQKYүQFҫQWKrPVӵKӛWUӧ
WӯQJѭӡLÿLӅXNKLӇQ ÿӇNKҳFSKөFFiFVDLOӋFKQj\
+uQK3.27 6ѫÿӗNKӕLWtQKLӋXÿLӅXNKLӇQKLӋQWҥL
63
7KHRÿyFiFKjPÿLӅXNKLӇQ33,'VӁKLӋXFKӍQKVDLOӋFKJLӳDJyFPRQJPXӕQ
YjJyFPjFҧPELӃQÿRÿѭӧF&iFVDLVӕWURQJÿRÿҥFVӁÿѭӧFÿLӅXFKӍQKOҥLEҵQJWtQ
KLӋXWӯWD\ÿLӅXNKLӇQ
7URQJWUѭӡQJKӧSQj\FiFJyF pitch, roll PRQJPXӕQÿѭӧFJiQJLiWUӏOj
/ѭXÿӗJLҧLWKXұW FKѭѫQJWUuQKÿLӅXNKLӇQFKtQK:
Start
7KLӃWOұSYLÿLӅXNKLӇQ
1KұQWK{QJVӕÿLӅXNKLӇQ
(throttle, roll, pitch, yaw)
ĈӑFWtQKLӋX
FҧPELӃQ,08
;ӱOờWtQKLӋXFҧPELӃQ
+LӋXFKӍQK3,'
(roll, pitch, yaw)
;XҩWWtQKLӋXÿLӅXNKLӇQ
+uQK3.28 *LҧLWKXұWFKѭѫQJWUuQKÿLӅXNKLӇQFKtQK
64
&+ѬѪ1* .ӂ748Ҧ7+Ӵ&1*+,ӊ0
4.1. ;k\GӵQJEӝOӑF.DOPDQFKRP{KuQKPi\ED\Quadrocopter
4.1.1 X͵ OờWtQKL͏XF̫PEL͇Q,08E̵FWGo [10]
Vector ሬܴԦ WUrQKӋWӑDÿӝÿҥLGLӋQFKRYHFWRUWUӑQJOӵF ሬܲԦ FQJKѭӟQJYӟLJLDWӕF
WU
Các file đính kèm theo tài liệu này:
Bao_cao_DATN.pdf
