i

TRUONG DAI HOC SU PHAM KY THUAT TP. HCM

KHOA CO KHI CHE TAO MAY
BO MN CO DIEN TU






DO N TT NGHIJP


NGHIN CU V CH TAO
M HNH MY BAY QUADROCOPTER








GVHD: Th.S Pham Bach Duong
SVTH : Nguyn Hai Dng Tm
MSSV: 06111089
SVTH : Nguyn L Nht Thng
MSSV: 06111096




TP. HO CHI MINH, thang 01 nm 2011
ii
B Giao duc va Dao tao
Truong Dai hoc Su Pham K Thut Tp. HCM
Khoa Co khi Ch tao may
B mn Co Din Tu
---o0o---
Cng Hoa X Hi Chu Nghia Vit Nam
Dc lp Tu do Hanh phuc
---o0o---
NHIJM VJ DO N TT NGHIJP

Ho va tn : Nguyn Hai Dng Tm MSSV: 06111089
Nguyn L Nht Thng MSSV: 06111096
Lop 061111 Nganh Co din tu
1.1. TN DO AN
NGHIN CU V CHE TAO
M HINH MY BAY QUADROCOPTER
1.2. NHIEM VU:
- Thit k va thi cng m hinh Quadrocopter voi cac thit bi tuong thich.
- Xy dung thut toan diu khin Quadrocopter co kha nng tu thng bng
trn truc, bay cn bng trong khng trung
- Xy dung chuong trinh giam sat tu may tinh dung LabVIEW
1. Ngay giao nhim vu d tai: 30/08/2010
2. Ngay hoan thanh nhim vu: 21/01/2011
3. Ho va tn giao vin huong dn: ThS. Pham Bach Duong
4. Ho va tn giao vin phan bin: ThS. L Thanh Tung
Ni dung va yu cu DATN d thng qua B mn.
Ngay . thang . nm 2011
CHU NHIEM BO MN GIAO VIN HUNG DN






PHAN DANH CHO KHOA, BO MN:
Nguoi duyt (chm so b): .....................
Don vi: ....................................................
Ngay bao v: ...........................................
Dim tng kt: .........................................
Noi luu tr du an: ....................................
iii
Nhn xt cua gio vin hung dn

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TP.HCM, ngay thang nm 2011







Th.S Pham Bach Duong


iv
Nhn xt cua gio vin phan bin

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TP.HCM, ngay thang nm 2011







Th.S L Thanh Tung

v


LI CAM ON

Truoc tin, chung em xin duoc gui loi cam on trn trong va su sc nht dn thy
Phm Bch Duong - nguoi d ht suc tao diu kin va tn tinh huong dn, gop ,
dng vin chung em trong sut qua trinh nghin cuu thuc hin d an nay.

Xin chn thanh cam on dn tt ca qu thy c thuc Khoa Co khi Ch tao may,
B mn Co din tu truong Dai hoc Su pham K thut TP.HCM, nhng nguoi d trang
bi cho chung em nhng kin thuc co ban, cung nhu d nhit tinh huong dn giup d
chung em trong sut khoa hoc vua qua.

Va sau cung, xin duoc cam on, chia se nim vui nay voi gia dinh, nguoi thn,
cung tp th lop Co din tu khoa 2006 - nhng nguoi d lun o bn, quan tm giup d
va tao diu kin thun loi d chung ti duoc hoc tp, nghin cuu va hoan thanh d an
tt nghip nay.

Tp. H Chi Minh, ngay 01 thang 01 nm 2011

Nhom thuc hin
Nguyn Hai Dang Tm
Nguyn L Nht Thng

vi



TM TAT BO CO

Quadrocopter, con duoc goi la Quadrotor Helicopter, la mt dang may bay ln
thng duoc nng boi bn canh quat dt trn mt khung ch thp.
M hinh duoc xy dung thoa mn ca 2 yu t la nhe va chc chn. Nhng
chuyn dng cua m hinh duoc do dac thng qua b IMU (Inertial Measurement Unit,
con goi la b do luong quan tinh) bao gm mt con quay hi chuyn hai truc va cam
bin d nghing ba truc va dua v vi diu khin thuc hin thut toan diu khin PID
cho 4 dng co thng qua phuong 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.
We succeeded in building a Quadrocopter with stiff and lightweight structure.
Our Quadrocopter`s 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 sensors` inputs and performed PID control
algorithm on the four motors by varying PWM signals sent to each of the motors.

viii
MJC LJC
Trang bia i
Nhim vu d an tt nghip ii
Nhn xt cua giao vin huong dn iii
Nhn xt cua giao vin phan bin iv
Loi cam on v
Tom tt d an vi
Abstract vii
Muc luc viii
Danh muc hinh x
Danh muc bang xiii
Cac quy uoc va hng s lin quan xiv
CHUONG 1: TONG QUAN
1.1 Su khac nhau gia Helicopter va Quadrocopter 1
1.1.1 V kt cu co khi va nguyn l hoat dng 1
1.1.2 V tinh nng diu khin 3
1.2 Tinh hinh nghin cuu thuc linh vuc d tai 4
1.2.1 Lich su phat trin cua may bay Quadrocopter 4
1.2.2 Tinh hinh nghin cuu o nuoc ngoai 7
1.2.3 Tinh hinh nghin cuu trong nuoc 10
1.3 Ni dung nghin cuu cua d tai 12
1.4 Phuong phap va phuong tin nghin cuu 13
CHUONG 2: L THUYET TIEP CAN
2.1 L thuyt diu khin Quadrocopter 14
2.2 M hinh toan cua Quadrocopter 17
2.2.1 Dng hoc 17
2.2.2 Dng luc hoc 20
2.2.3 M hinh Newton-Euler 21
2.2.4 Khi dng hoc 27
2.3 Diu khin dng co mt chiu khng chi than 32
2.4 B loc Kalman 36
2.4.1 Khai nim b loc 36
2.4.2 B loc Kalman la gi ? 36
2.4.3 Ban cht cua b loc Kalman 38
ix
2.4.4 Quy trinh uoc luong 38
2.4.5 So sanh cac b loc voi b loc Kalman 40
2.5 Giam sat - diu khin giao tip may tinh dung phn mm LabVIEW 42
2.5.1 Tng quan v LabVIEW 42
2.5.2 Tim hiu mt chuong trinh LabVIEW 43
CHUONG 3: XY DJNG M HINH QUADROCOPTER
3.1 So d khi tng th cua h thng 46
3.2 Thit k co khi 47
3.3 Thit k h thng diu khin 51
3.3.1 Tay diu khin 52
3.3.2 Mach trung tm 53
3.3.3 Module RF 57
3.3.4 Cam bin IMU 58
3.3.5 Dng co BLDC va B diu tc ESC 59
3.4 Xy dung thut toan diu khin 61
CHUONG 4: KET QUA THJC NGHIJM
4.1 Xy dung b loc Kalman cho m hinh may bay Quadrocopter 64
4.1.1 Xu l tin hiu cam bin IMU 5 bc tu do 64
4.1.2 Ti uu hoa thut toan Kalman 65
4.1.3 Xac dinh cac thng s va hoan chinh b loc Kalman 66
4.2 Chuong trinh giam sat dung phn mm LabVIEW 67
4.2.1 Kim tra va xu l tin hiu cam bin 67
4.2.2 Giam sat trang thai hoat dng cua Quadrocopter 69
4.3 Kt qua thuc nghim va nhn xt 73
4.3.1 Dap ung luc dy cua ESC Motor 73
4.3.2 Dap ung cua m hinh voi cac thng s diu khin PID 77
CHUONG 5: KET LUAN
5.1 Nhng kt qua dat duoc 84
5.2 Nhng kt qua chua dat duoc va bin phap khc phuc 85
5.3 Huong phat trin cua d tai 85
Tai liu tham khao 86
Phu luc A: Ban ve m hinh may bay Quadrocopter 87
Phu luc B: Vi diu khin ATmega128 88
x
DANH MJC HINH
Hinh 1.1 RC Helicopter T-rex 600 1
Hinh 1.2 Cum swashplate trn co cu canh cua Helicopter 1
Hinh 1.3 Cum canh quat dui cua Helicopter 2
Hinh 1.4 Quadrocopter 2
Hinh 1.5 Nguyn l hoat dng cua Quadrocopter 3
Hinh 1.6 Phn loai vt th bay 4
Hinh 1.7 Breguet- Richet Gyroplane No.1 5
Hinh 1.8 Quadrocopter cua Etienne Oemichen 5
Hinh 1.9 'Bach tuc bay 6
Hinh 1.10 Convertawings Model A 6
Hinh 1.11 San phm X-Pro cua hng DraganIly Innovations 7
Hinh 1.12 San phm MD4-200 cua hng Microdrone 8
Hinh 1.13 May tinh d hin thi cac thng s v tinh trang cua may bay 8
Hinh 1.14 San phm AR.Drone cua hng Parrot 9
Hinh 1.15 San phm MK Basicset ME cua hng MikroKopter 9
Hinh 1.16 M hinh may bay nghim thu tai So Khoa hoc - Cng ngh 10
Hinh 1.17 Mt chic may bay 4 dng co cua cu lac b m hinh 11
Hinh 1.18 Quadrotor va nhom sinh vin Co din tu DH Cng nghip Ha Ni 11
Hinh 1.19 Robot tu hanh kiu Quadrotor cua Hoc vin K thut Qun su 12
Hinh 2.1 Dinh nghia cac huong chuyn dng cua Quadrocopter 14
Hinh 2.2 Hover 15
Hinh 2.3 Throttle 15
Hinh 2.4 Roll 16
Hinh 2.5 Pitch 16
Hinh 2.6 Yaw 17
Hinh 2.7 H quy chiu E va B 17
Hinh 2.8 Cac luc va moment tac dung ln Quadrocopter 20
Hinh 2.9 Moment quan tinh khi hinh hp ch nht 25
Hinh 2.10 M hinh canh quat trong thuyt dng luong 28
Hinh 2.11 Thuyt co ban v canh quat 29
Hinh 2.12 Hinh dang khi dng hoc cua canh 31
Hinh 2.13 Dng co BLDC inrunner 32
Hinh 2.14 Dng co BLDC outrunner 32
Hinh 2.15 So d du dy dng co BLDC va ESC 33
xi
Hinh 2.16 Tin hiu PWM diu khin dua vao ESC 33
Hinh 2.17 Nguyn l tao dong 3 pha 34
Hinh 2.18 So d chui xung 35
Hinh 2.19 So d mach din ESC dung phuong phap cam ung BEMF 35
Hinh 2.20 Cach thuc xu li tin hiu cua b loc 37
Hinh 2.21 Tin hiu thu duoc chua duoc loc cua may bay 37
Hinh 2.22 M hinh hoa b loc Kalman 38
Hinh 2.23 Cac buoc xy dung b loc Kalman 40
Hinh 2.24 Gian d Bode va pha cua b loc bc nht 40
Hinh 2.25 Vi du so sanh cac tin hiu o ng vao (mau xanh), kt qua ng ra o
b loc b phu (mau den), va o b loc Kalman (mau do) 41
Hinh 2.26 Kha nng kt hop voi cac phn cung cua LabVIEW 42
Hinh 2.27 Front Panel va Block Diagram trong mt chuong trinh LabVIEW 43
Hinh 2.28 Front panel 44
Hinh 2.29 Cac chuc nng diu khin va chi thi trong Front Panel 44
Hinh 2.30 Block Diagram 45
Hinh 2.31 Cac ham trong Block Diagram 45
Hinh 2.32 Mau sc cua dy d liu trong LabVIEW 45
Hinh 3.1 So d khi tng th cua h thng 46
Hinh 3.2 Thit k dung cu hinh chong chong dy (pusher propeller) 47
Hinh 3.3 Thit k dung cu hinh chong chong ko (tractor propeller) 48
Hinh 3.4 Mu thit k thu ba 49
Hinh 3.5 M phong ung sut cho cu hinh chong chong dy 49
Hinh 3.6 M phong ung sut cho cu hinh chong chong ko 50
Hinh 3.7 M phong chuyn vi cho cu hinh chong chong dy 50
Hinh 3.8 M phong chuyn vi cho cu hinh chong chong ko 50
Hinh 3.9 M hinh may bay Quadrocopter thuc t 51
Hinh 3.10 So d khi tay diu khin 52
Hinh 3.11 So d nguyn l tay diu khin 52
Hinh 3.12 Board diu khin 53
Hinh 3.13 Mach trung tm trn m hinh Quadrocopter 53
Hinh 3.14 So d khi mach trung tm 54
Hinh 3.15 So d nguyn l mach trung tm 55
Hinh 3.16 Board trung tm 56
Hinh 3.17 Board giao tip RS232 57
Hinh 3.18 Module RF su dung truyn thng UART 57
xii
Hinh 3.19 IMU 5 bc tu do va gyroscope LISY300AL 58
Hinh 3.20 Brushless motor FC2835-10T 59
Hinh 3.21 Canh quat GWS EP-1060Rx3 59
Hinh 3.22 Canh quat EPP1045 60
Hinh 3.23 ESC HiModel GX-40A 60
Hinh 3.24 ESC Hobbywing Pentium 30A 61
Hinh 3.25 Cu truc h diu khin 61
Hinh 3.26 So d khi tin hiu diu khin hoan chinh 62
Hinh 3.27 So d khi tin hiu diu khin hin tai 62
Hinh 3.28 Giai thut chuong trinh diu khin chinh 63
Hinh 4.1 Vector trong luc xt trong 3 truc toa d cua cam bin gia tc 64
Hinh 4.2 B loc Kalman hoan chinh 66
Hinh 4.3 Giao din xu l tin hiu dung Kalman trn LabVIEW 67
Hinh 4.4 So d khi xu l tin hiu dung Kalman trn LabVIEW 67
Hinh 4.5 Khi VI VISA ConIigure Port 68
Hinh 4.6 Khi VI VISA Read 68
Hinh 4.7 Khi VI VISA Write 68
Hinh 4.8 Khi Spreadsheet String To Array 68
Hinh 4.9 So d khi Mathscript Node 68
Hinh 4.10 Giao din giam sat trang thai Quadrocopter 69
Hinh 4.11 Giao din giam sat trang thai Quadrocopter bng hinh anh 3D 70
Hinh 4.12 Block Diagram chuong trinh giam sat trang thai 71
Hinh 4.13 Chuong trinh khi ArtiIicial Horizon 71
Hinh 4.14 Chuong trinh khi 3D Picture 72
Hinh 4.15 Mt chuong trinh LabVIEW hin thi m hinh vt th 3D 72
Hinh 4.16 M hinh kim tra luc dy dng co 73
Hinh 4.17 D thi dap ung luc dy (1) cua dng co 76
Hinh 4.18 D thi dap ung luc dy (2) cua dng co 76
Hinh 4.19 So d khi b diu khin PID voi cac khu ti l, tich phn, dao ham 77
Hinh 4.20 D thi dap ung PD cua goc pitch voi tac dng 78
Hinh 4.21 D thi dap ung PD cua goc roll voi tac dng 79
Hinh 4.22 D thi dap ung PID cua goc pitch 80
Hinh 4.23 D thi dap ung PID cua goc roll 81
Hinh 4.24 Thuc nghim dap ung diu khin goc voi m hinh trn gia d 82
Hinh 4.25 Nhng hinh anh bay thuc t cua m hinh Quadrocopter 83
xiii
DANH MJC BANG
Bang 3.1 M ta cac chn kt ni cua module RF 57
Bang 3.2 Cac thng s k thut cua cam bin 58
Bang 3.3 Thng s k thut cua dng co FC2835-10T 59
Bang 3.4 Thng s k thut cua ESC HiModel GX-40A 60
Bang 3.5 Thng s k thut cua ESC Hobbywing Pentium 30A 61
Bang 4.1 Bang tham chiu dap ung luc dy (1) cua dng co 74
Bang 4.2 Bang tham chiu dap ung luc dy (2) cua dng co 75

xiv
CC QUY UC V HANG S LIN QUAN
I. Cc quy uc:
K hiu Don vi M ta
X m vi tri dai theo truc x
E

Y m vi tri dai theo truc y
E

Z m vi tri dai theo truc z
E

rad goc roll (xoay quanh truc X)
0 rad goc pitch (xoay quanh truc Y)
rad goc yaw (xoay quanh truc Z)
u m/s vn tc dai theo truc x
B

v m/s vn tc dai theo truc y
B

w m/s vn tc dai theo truc z
B

p rad/s vn tc goc theo truc x
B

q rad/s vn tc goc theo truc y
B

r rad/s vn tc goc theo truc z
B

I
E

m

vector vi tri dai theo h quy chiu E

I
`
E
m

vector vn tc dai theo h quy chiu E
I
``
E
m/s
2
vector gia tc dai theo h quy chiu E
O
E

rad vector vi tri goc theo h quy chiu E
O
`
E

rad/s

vector vn tc goc theo h quy chiu E
rad/s
2
vector gia tc goc theo h quy chiu E
V
E
m/s vector vn tc dai theo h quy chiu E
V
B
m/s vector vn tc dai theo h quy chiu B
v

B
m/s
2
vector gia tc dai theo h quy chiu B
e
B
rad/s vector vn tc goc theo h quy chiu B
u
B
rad/s
2
vector gia tc goc theo h quy chiu B

-
vector vi tri tng quat theo h quy chiu E

`
-

vector vn tc tng quat theo h quy chiu E
v -
vector vn tc tng quat theo h quy chiu B
v`
-
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
A
-
vector luc tng quat
F
E
N vector luc theo h quy chiu E
F
B
N vector luc theo h quy chiu B

E
G
F
N
vector luc hp dn theo h quy chiu E

B
G
F
N vector luc hp dn theo h quy chiu B
G
B
()
-
vector hp dn theo h quy chiu B
G
H

-
vector hp dn theo h quy chiu H
U
B

-
vector chuyn dng theo h quy chiu B
U
1
N luc nng theo h quy chiu B
U2 Nm moment xon roll theo h quy chiu B
U3 Nm moment xon pitch theo h quy chiu B
U4 Nm moment xon yaw theo h quy chiu B
+
B
Nm moment xon theo h quy chiu B
R
O -
ma trn xoay
T
O -
ma trn chuyn vi
J
O -
ma trn tng quat
E
B

-
ma trn chuyn dng theo h quy chiu B
E
H
()
-
ma trn chuyn dng theo h quy chiu H
M
B -
ma trn quan tinh h thng theo h quy chiu B
M
H

-
ma trn quan tinh h thng theo h quy chiu H
O
B
(v)
-
ma trn canh quat hi chuyn theo h quy chiu B
O
H
()
-
ma trn canh quat hi chuyn theo h quy chiu H

C
B
(v )

-
ma trn Coriolis huong tm theo h quy chiu B
C
H
()
-
ma trn Coriolis huong tm theo h quy chiu H
S(...)
-
ma trn di xung lch

O rad/s vector tc d canh quat
u
1
rad/s

tc d canh quat truoc
u
2
rad/s

tc d canh quat phai
u
3
rad/s

tc d canh quat sau
u
4
rad/s

tc d canh quat trai
T
MT
N

luc nng theo thuyt dng luong
T
BET
N

luc nng theo thuyt canh quat
xvi
Q
BET
Nm moment xon cua canh quat
m
A
kg/s d thay di cua khi luong khng khi qua dia quat
p
1
Pa ap sut khng khi tac dung truc tip phia trn dia
p
2
Pa ap sut khng khi tac dung truc tip duoi trn dia
p

Pa ap sut cn duoi
p
-
Pa ap sut cn trn
v
1
m/s

vn tc khng khi tac dung truc tip phia trn dia
v
2
m/s

vn tc khng khi tac dung truc tip duoi trn dia
v
I
m/s

vn tc khng khi ngay tai dia quat
v

m/s

vn tc cn duoi
v
-
m/s

vn tc cn trn
v
V
m/s vector vn tc do chuyn dng cua dong khi cua canh quat
v
H
m/s vector vn tc do vn tc goc cua lui canh quat
e
P
rad/s vn tc goc cua canh quat
dD
BET
N/m vi phn luc ko
dL
BET
N/m vi phn luc nng
dF
BET
N/m vi phn luc khi dng hoc
dT
BET
N/m vi phn luc khi dng hoc theo phuong dung
dH
BET
N/m vi phn luc khi dng hoc theo phuong ngang
u
I
rad goc hop gia duong ngang voi duong chia canh quat
u
Io
rad hng s zero goc tn
u
Itw
rad goc xon cua goc tn
4
I
rad goc tn luu luong dong khi vao
II. Cc hang s:
K hiu Don vi Gia tri M ta
a rad
-1
2 a goc nng
A m
2
75.5 x 10
-3
din tich dia canh quat
b N s
2
54,2 x 10
-6
h s dy
b
BET
N s
2
54,2 x 10
-6
h s dy theo thuyt canh quat
b
MT
N s
2
54,2 x 10
-6
h s dy theo thuyt dng luong
c m 0.02 chiu dai trung binh duong chia canh quat
C
D

-
0.05 h s ko (drag)
C
L

-
0.05 h s nng (lift)

xvii
d N m s
2
1.1 x 10
-6
h s ko
g m/s
2
9.81 gia tc trong truong

TP
J Nms
2
104x10
-6
moment quan tinh quay tng cng di voi truc
canh quat
l m 0.22 khoang cach tu tm Quadrocopter dn tm
canh quat
m kg 1.365 khi luong Quadrocopter
N
B

-
2 s canh (blade) cua canh quat

A
kg/m
3
29 mt d khng khi




1
CHUONG I: TONG QUAN
1.1 S khc nhau gia Helicopter v Quadrocopter
[1]

Truc thng thng thuong (Helicopter) va truc thng bn chong chong
(Quadrocopter, Quadrotor hay Quadcopter) duoc xp vao loai may bay co kha nng
ct canh va ha canh thng dung hay con goi VTOL (Vertical Take OII and Lading), ca
hai loai nay du co kha nng di chuyn theo 6 huong (ln-xung, truoc-sau, trai-phai),
kha nng dung yn tai ch (hover) ma may bay canh bng khng co. Tuy nhin, gia
hai loai nay co nhng dim khac nhau co ban nhu sau:
1.1.1 J kt cu co kh v nguyn ly hot dng
So voi loai m hinh truc thng thng thuong co kt cu co khi rt phuc tap va
nhiu chi tit nho gia cng tinh xao, thi Quadrocopter don gian hon rt nhiu, loai nay
chi gm 4 motor din gn canh quat duoc dt o bn goc cua mt hinh vung, trong
khi truc thng m hinh thng thuong bao gm h thng dia xoay (swashplate), rotor
head va cac cn (arm rod) d thay di goc tn (pitch) cua canh quat chinh thng qua
cac servo nho.

Hnh 1.1 RC Helicopter T-rex 600

Hnh 1.2 Cm swashplate trn co cu cnh cua Helicopter
Ngoai ra, truc thng thng thuong con co h thng canh quat dui d lam trit
tiu moment do canh quat chinh gy ra. Diu nay tiu tn dn 25 nng luong tng
cng cua may bay. Nng luong nay khng sinh cng d nng may bay ma chi trit tiu
moment xon, cho nn dy la nng luong v ich lam giam hiu sut cua may bay.
2
Hon na, cac h thng banh rng d truyn dng tu motor chinh sang canh quat
chinh va canh quat dui cung rt phuc tap.

Hnh 1.3 Cm cnh qut dui cua Helicopter
Di voi Quadrocopter, kt cu chi gm 4 motor din ging nhau co lp canh quat
duoc dt o 4 goc hinh vung va canh quat co th gn truc tip hay thng qua truyn
dng banh rng, 4 motor nay duoc chia ra lam 2 cp: truoc-sau, trai-phai.

Hnh 1.4 Quadrocopter
Chiu quay cua 2 motor trong mi cp la ging nhau, nhung chiu quay cua cp
truoc-sau va trai-phai la nguoc nhau. Vi du: cp truoc-sau quay cung chiu kim dng
h thi cp trai-phai quay nguoc chiu kim dng h. Va canh quat dung trong
Quadrocopter phai la 2 loai nguoc nhau, mt loai quay cung chiu va mt loai nguoc
chiu kim dng h. Thng thuong dung loai co goc tn c dinh (Iixed pitch).
Muc dich cua vic nay la d trit tiu moment xon do tung cp gy ra. Tuy
nhin, ngoai kha nng tao moment trit tiu nhau, 4 motor nay khi quay du tao luc
nng cho may bay, khng nhu h thng h thng dui cua truc thng thng thuong:
khng tao duoc luc nng ma chi nhm lam trit tiu moment cua canh quat chinh. Dy
la mt uu dim lon cua Quadrocopter.
3
Ngoai 4 motor va canh quat ra thi Quadrocopter khng con mt chi tit chuyn
dng nao khac cho nn dy la mt loi dim khi su dung va khng cn phai thay th
cac chi tit nay khi bi rot hay va cham nhu Helicopter.
Mt yu t rt quan trong na la do duong kinh canh quat cua Quadrocopter nho
hon nhiu so voi Helicopter cho nn vic bay thu nghim hay bay trong nha cung d
dang va thun loi, khng gy nguy him toi nguoi xung quanh.
Nguyn l hoat dng cua loai Quadrocopter nay cung rt don gian:

Hnh 1.5 Nguyn l hot dng cua Quadrocopter
- truoc-sau: d di v bn truoc, motor phia truoc giam tc so voi motor sau va
nguoc lai d di v phai sau, motor sau giam tc so voi motor truoc.
- trai-phai: d di v bn trai, motor trai giam tc so voi motor phai va nguoc lai
d di v bn phai, motor phai giam tc so voi motor trai.
- ln-xung: tng tc hay giam tc dng thoi 4 motor se lam tng luc nng hay
giam luc nng d bay ln hay xung.
- xoay: mun xoay cung chiu kim dng h thi cp motor quay cung chiu kim
dng h (vi du truoc-sau) se quay chm hon cp motor quay nguoc chiu kim dng h
(vi du trai-phai). Nguoc lai mun xoay nguoc chiu kim dng h thi cp motor quay
nguoc chiu kim dng h (trai-phai) se quay chm hon cp motor quay cung chiu
kim dng h (truoc-sau).
1.1.2 J tnh nng diu khin
Xt v mt nay thi Quadrocopter doi hoi h thng mach diu khin phuc tap hon
vi phai su dung cac cam bin quan tinh nhu gyro (gyroscope) va gia tc (accelero-
meter) d tinh toan duoc goc nghing va vn tc quay theo ba truc d gi thng bng,
nu khng se khng th nao diu khin duoc. Tuy theo h thng mach diu khin tt
toi muc nao se quyt dinh toi kha nng diu khin Quadrocopter d hay kho.
Nhung khi d duoc thit k tt, mt nguoi chua tung diu khin qua ln nao
cung co th diu khin duoc Quadrocopter mt cach d dang. Theo nhu nguyn l
4
hoat dng d d cp toi o trn thi diu khin Quadrocopter thuc cht chi la diu khin
tc d cua 4 motor d co duoc chuyn dng mong mun.
Di voi Helicopter, vic diu khin bao gm rt nhiu yu t: diu khin cac
servo d thay di goc tn cua canh quat chinh, thay di tc d canh quat chinh, thay
di tc d hoc goc tn cua canh quat dui d be lai, thay di mt phng quay cua
canh quat chinh v.v... Loai nay rt kho diu khin, cn phai co nhiu k nng va kinh
nghim. D co th diu khin duoc m hinh loai nay, nguoi diu khin phai mt mt
thoi gian kha lu d lam quen, va thuong thi phai tp lai trn cac phn mm m phong
truoc moi du tu tin cm lai. Nu khng, rot may bay la mt diu rt d xay ra.
1.2 Tnh hnh nghin cu thuc linh vc d ti
1.2.1 Ljch su pht trin cua my bay Quadrocopter
Co th phn loai vt th bay ra thanh cac loai nhu sau:

Hnh 1.6 Phn loi vt th bay
Chic Quadrocopter du tin trn th gioi ra doi nm 1907 do anh em nha khoa
hoc nguoi Phap Louis va Jacques Breguet cung giao su Charles Richet hop tac ch
tao. No duoc mang tn la 'Breguet Richet Gyroplane No.1. Yu cu duoc dua ra la
no co th ct canh khoi mt dt voi 1 phi cng. Mt dng co 8 xy-lanh duoc su dung
d quay 4 canh quat. Mi canh quat co 4 ban canh. H thng dy dai va pu-li duoc gn
ln nhm truyn dng tu dng co cho cac canh. B khung cua chic Quadrocopter nay
lam tu cac ng thp. Tng trong luong cua no vao khoang 575Kg. Ln bay thu
nghim du tin din ra tai Douai- Phap vao nm 1907, no d co th nng cao khoi
mt dt 1.5m.

Quadro-
copter
5

Hnh 1.7 Breguet- Richet Gyroplane No.1
Dn nm 1920, Etienne Oemichen, d ch tao mt chic Quadrocopter voi 8
canh quat linh hoat nhm diu khin va tao luc dy. Ban du, no duoc gn thm mt
khi cu d nng va gi n dinh cho c may nay. Nm 1922, Oemichen d thanh cng
khi cho chic Quadrocopter bay ma khng cn su tro giup cua khi cu. Sau do, no
khng bao gio duoc su dung na.


Hnh 1.8 Quadrocopter cua Etienne Oemichen
6
Cung trong nm 1922, tin si George de Bothezat va Ivan Jerome d thanh cng
khi thit k chic Quadrocopter khng l phuc vu cho qun di M. C may nay d
duoc diu khin bng cach thay di don le hoc cung luc cac goc xon cua canh quat.
Ngoai ra no con duoc gn thm 4 canh quat loai nho d tro giup diu khin. Chic
Quadrocopter nay duoc dt tn la Bach tuc bay. Nhung du an nay bi huy bo ngay
lp tuc vi kha nng bay thp, gia thanh cao.

Hnh 1.9 ~Bch tuc bay
Dn nm 1956, Convertawings ln na lam sng lai thit k truc thng 4 canh
quat d duoc thu nghim nm 1922 boi Oemichen tai Phap va G. de Bothezat tai M.
Bn canh quat cua chic truc thng nay duoc gn kt theo tung cp trn 2 thanh ni
song song. Co ch kim soat v cung don gian bng cach thay di luc dy gia cac
canh quat. Nng luong duoc cung cp boi hai dng co, truyn dng toi h thng canh
quat bng dy dai ch V. May bay co ba banh dap voi hai banh sau va mt banh truoc
co th xoay duoc. Chuyn bay duoc thuc hin thanh cng vao thang 3 nm 1956 tai
M. Tuy nhin, du an nay d som bi chm dut do khng nhn duoc don dt hang.

Hnh 1.10 Convertawings Model A
Tu do, cac cu hinh cua may bay Quadrocopter khng con duoc chu nhu truoc.
Mi cho dn nhng nm gn dy, Quadrocopter moi duoc quan tm tro lai vi kha
nng ung dung rt lon trong linh vuc thit bi bay m hinh.
[14]

7
1.2.2 1nh hnh nghin cu o nuc ngoi
Vi tinh cht don gian trong kt cu co khi va tinh linh dng trong vic diu khin
cung nhu tim nng ung dung rt lon vao thuc t cua m hinh loai nay ma
Quadrocopter d va dang duoc nhiu hng trn th gioi nghin cuu phat trin tro
thanh san phm thuong mai.

Sau dy xin duoc gioi thiu mt vai san phm din hinh:
a. San pham X-Pro cua Draganfly Innovations
[1]


Hnh 1.11 San phm X-Pro cua hng Draganfly Innovations
Cac thng s k thut:
- Co th nng duoc ti da 1360g.
- Duoc 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, chup khng anh.
- Thoi gian bay 20 phut.
- Gia $50008000.
Tuy nhin vic diu khin loai may bay nay phu thuc nhiu vao k nng cua
nguoi diu khin va cn thoi gian d lam quen vi khng co h thng tu cn bng va
cac cam bin cn thit khac.
b. San pham MD4-200 cua hng Microarone
[1]
Dy la mt san phm cuc ky chuyn nghip va no co tn goi la VTOL AUMAV
(Vertical Take Off and Landing Autonomous Unmanned Micro Aerial Vehicle) hay
may bay siu nho tu dng ct canh va ha canh thng dung. Loai nay co h thng
AAHRS ( Altitude and Attitude and Heading ReIerence System) hay con goi h thng
tham chiu d cao, goc nghing va huong, duoc trang bi cac loai cam bin gia tc,
gyro, cam bin tu truong va nhit d, cam bin ap sut, cam bin d m. Ngoai ra con
co kha nng bay theo l trinh cai dt sn nho trang bi thit bi dinh vi toan cu GPS.
MD4-200 duoc trang bi camera d thuc hin chup khng anh, quan sat, theo di
hay trinh tham trn khng. Cac phu tung khac kem theo bao gm hp dung b thu
8
phat tin hiu video va d liu, may tinh d hin thi cac thng s v tinh trang cua may
bay cung nhu cac tin hiu cam bin, cac goc nghing , d liu GPS.
Khung MD4-200 tt ca du lam bng carbon vi th rt nhe va chiu va dp rt tt,
ngoai ra do lam bng carbon nn khung cua MD4-200 hoat dng nhu mt vo boc co
kha nng chng cac loai nhiu din tu.
Bng cach su dung motor co s vong quay ti da 2000 vong/phut nn d n rt
thp ( 63dBA 3m) rt thich hop cho muc dich trinh tham hay quan sat trn khng
ma khng bi phat hin. Dc tinh an toan cua MD4-200 nho kha nng tranh bi rot va tu
dng ha canh an toan khi pin gn ht hay la mt tin hiu v tuyn diu khin.
Ngun din la pin Lipo 14.8V 2300mAh. Tuy thuc vao tai mang theo (ti da
200g), gio, nhit d ma thoi gian bay cua MD4-200 co th ln toi 20 phut. Gia $5000.

Hnh 1.12 San phm MD4-200 cua hng Microdrone

Hnh 1.13 My tnh d hin th| cc thng s v tnh trng cua my bay
c. San pham cua AR.Drone cua hng Parrot

Dy la san phm phuc vu muc dich giai tri chay trn ung dung cua iPhone.
AR.Drone su dung pin Li-ion, nu duoc sac dy thi no co th bay trong vong 15
phut. Phn thn cua no rt nho, duoc lam tu soi carbon va xp d giam trong luong
(AR.Drone chi nng 400gram).
Chic may bay m hinh nay co 2 camera (mt dt phia truoc va mt o bn duoi)
kt ni truc tip voi din thoai iPhone qua song wiIi. Nhng hinh anh tu camera trn
may bay sau do se hin thi trn man hinh iPhone giup nguoi dung diu khin d dang
va an toan hon.
9
Ngoai ra, AR.Drone dung ung dung thng tin khng gian thuc (Augmented
Reality) nho vy nguoi diu khin moi co th nghing iPhone d diu huong cho no
ma khng phai dung nut bm.
AR.Drone co gia ban $299 tai M.

Hnh 1.14 San phm AR.Drone cua hng Parrot
d. San pham cua hng MikroKopter
[13]

Hnh 1.15 San phm MK Basicset ME cua hng MikroKopter
Nhng may bay nhiu dng co (multi-rotor) cua hng MikroKopter co d cung
vng va d n dinh thuc vao bc nht nho su dung b cn bng din tu chun giao
tip tc d cao I2C.
Su dung dng co Roxxy va dng co MK cng ngh dc quyn cua MikroKopter
vn hanh m, muot, it gy nhiu ln cac cam bin, nng cao d n dinh, dng thoi tiu
tn it din nng, ko dai hon thoi gian thuc hin chuyn bay.
Ngoai Quadrocopter, nhng dong san phm Hexacopter, Oktocopter (may bay 6
va 8 dng co) cua hng co kha nng mang tai rt lon, ln dn 10Kg, thich hop cho
vic vn chuyn cac camera chuyn dung thuc hin quay khng anh cht luong cao.
Nhng san phm nay co gia tu 700t dn 1800t tuy vao cu hinh.
10
1.2.3 1nh hnh nghin cu trong nuc
a. M hinh Quadrocopter ao nhom cua k su L Cng Danh thuc hin

Ngay 01/12/2009, cng trinh 'Nghin cuu, thit k va ch tao m hinh may bay
ln thng bn chong chong co kha nng tu cn bng va di chuyn trong nha do k su
L Cng Danh, giang vin Khoa Co khi truong DH Giao thng vn tai TP.HCM lam
chu nhim, k su Pham Ngoc Huy la nguoi nghin cuu chinh, d duoc nghim thu tai
So Khoa hoc - Cng ngh TP.HCM.

Hnh 1.16 M hnh my bay nghim thu ti So Khoa hc - Cng ngh
D bao dam d nhe cua m hinh, nhom nghin cuu d su dung vt liu la nhm
va soi carbon d ch tao khung may bay. So voi cac may bay m hinh dang ban trn
thi truong, san phm nay co mach din diu khin phuc tap hon, giup nguoi su dung
d dang diu khin hon, nguoi chua su dung bao gio cung co th diu khin duoc.
Theo PGS-TS L Hoai Quc, Pho Giam dc So Khoa hoc - Cng ngh TP.HCM,
dy la mt d tai kho va voi nhng gi dat duoc, tac gia d hoan thanh muc tiu d ra.
Hin nay, kt qua nghin cuu d duoc chuyn v cho don vi chu tri la Trung tm Thit
k ch tao thit bi moi Neptech d tip tuc hoan thin thm. Du kin khi dua vao san
xut, gia ban mi m hinh se la $600.
b. Ch tao Quadrocopter tai cac cau lac b m hinh
[12]

Trong nm 2010, tu thanh cng cua k su Pham Ngoc Huy o trn, vic ch tao
Quadrocopter d tro thanh trao luu lon trong cac nhom choi may bay m hinh. Kt
qua la nhiu may bay Quadrocopter d bay ln thanh cng tu nhng nguoi dam m
m hinh.
Tuy nhin, do h thng cam bin chi dung gyroscope do chuyn dng theo 3
truc, khng co cam bin gia tc do goc nghing nn xay ra hin tuong 'tri, kha nng
11
bay cua m hinh tt hay khng vn phu thuc kha nhiu vao kinh nghim cua nguoi
diu khin.

Hnh 1.17 Mt chic my bay 4 dng co cua cu lc b m hnh
c. Nghin cuu ch tao Quadrocopter tai cac truong ai hoc
Cung ging nhu d tai 'ch tao xe tu cn bng o nhng nm truoc, trong nm
2010 vua qua, d tai 'nghin cuu ch tao m hinh may bay ln thng Quadrocopter
d tro thanh d tai nong, thu hut nhiu su quan tm cua sinh vin boi tinh moi me va
dy thu vi cua no. Nhiu sinh vin nm 3-4, sinh vin sp ra truong d chon
Quadrocopter lam d tai nghin cuu, tha mn nhu cu hoc tp cua minh.
Tuy nhin, kt qua cua nhng d an nay vn chua duoc m mn. Do nhng kho
khn va han ch nhu thoi gian tip xuc, nghin cuu, tim hiu ngn, thiu kinh nghim
trong linh vuc thit bi bay, nn vn con nhng tn tai sinh vin chua khc phuc duoc.
Hin tai vn chua co d tai nao cho m hinh bay ln thanh cng.

Hnh 1.18 Quadrotor v nhm sinh vin Co din tu DH Cng nghip H Ni

Nhom sinh vin nganh Co din tu Dai hoc Cng nghip Ha Ni d khng khc
phuc duoc vn d nhiu cua cam bin gia tc, chi dung tin hiu gyroscope d diu
khin nn m hinh vn chua th bay cn bng.
12

Hnh 1.19 Robot t hnh kiu Quadrotor cua Hc vin K thut Qun s
Robot may bay cua Hoc vin K thut Qun su co khi luong kha nng (gn
2Kg), khng dung bt ky cam bin do quan tinh nao, chi dung tin hiu diu khin don
thun tu tay diu khin v tuyn. Tai trin lm Robocon Techshow 2010, robot d
khng ct canh thanh cng.
Nu xt o cp d cao hon, lun vn thac si hay cng ty nghin cuu theo don dt
hang, thi hin tai tinh hinh nghin cuu trong nuoc d dat duoc nhng kt qua rt kha
quan. Nhiu m hinh d dap ung tt v tinh cn bng va d n dinh. Trong do, ngoai
cac cam bin quan tinh (gyro va gia tc), su dung thm cam bin hng ngoai nhn bit
duong chn troi, cam bin siu m nhn bit d cao, dung tin hiu GPS cho muc dich
tu hanh v.v.
1.3 Ni dung nghin cu cua d ti
Quadrocopter la mt d tai kho, doi hoi kin thuc tng hop o nhiu linh vuc nhu:
co khi thit k, thit bi bay, khi dng hoc, dng luc hoc, xu l tin hiu s, mach din
tu, vi diu khin, giao tip may tinh, truyn thng v tuyn, m hinh hoa, m phong,
lp trinh diu khin, lp trinh giao din v.v. Do do, doi hoi mi thanh vin trong
nhom phai n luc ht minh d co th hoan thanh duoc d tai.
Cac vn d chinh cua d tai:
- Tim hiu nguyn l diu khin, nghin cuu dng hoc, dng luc hoc, khi dng
hoc va m hinh toan cua thit bi bay dang Quadrocopter.
- Tinh toan, thit k va ch tao m hinh co khi.
- Thit k h thng diu khin.
- Xy dung thut toan diu khin.

13
Do diu kin han ch v kinh phi, thoi gian thuc hin ngn va kha nng kin thuc
trong linh vuc con han hep nn d tai duoc gioi han trong cac diu kin nhu sau:
- Nghin cuu ch tao m hinh Quadrocopter loai cng sut nho su dung dng co
khng chi than va b diu tc ESC giao thuc PWM.
- Xu l tin hiu cac cam bin quan tinh (gyroscope va accelerometer) d dua vao
diu khin Quadrocopter tu cn bng, chua cn quan tm dn diu khin huong bay
cua m hinh.
1.4 Phuong php v phuong tin nghin cu
V phuong phap nghin cuu:
- Tim hiu cac tai liu va thit k hin co o trong va ngoai nuoc.
- Tinh toan thit k m hinh hoa va m phong d danh gia cht luong h thng
va loai tru cac li thit k.
- Tin hanh thuc nghim, do dac, ve d thi, phn tich va hiu chinh cn bng.
V phuong tin nghin cuu:
- Thit k m hinh va tinh toan d bn bng phn mm Solidworks, lp trinh
gia cng CNC cho phn khung Quadrocopter.
- Cac trang thit bi bay tu h tro cua giao vin huong dn.
- Su dung thit bi din tu do luong luc dy cua dng co canh quat.
- Giam sat tu may tinh dung phn mm Visual C, LabVIEW.

14
CHUONG 2: L THUYET TIEP CAN
2.1 L thuyt diu khin Quadrocopter
[2]


Hnh 2.1 D|nh nghia cc hung chuyn dng cua Quadrocopter
Cp canh quat phia truoc (front) va phia sau (back) quay nguoc chiu kim dng
h, trong khi do cp canh bn phai (right) va bn trai (left) lai quay thun chiu kim
dng h nhm cn bng moment xon duoc tao ra boi cac canh quat trn khung. Ca 4
canh phai sinh ra mt luc dy bng nhau khi Quadrocopter ct canh va ha canh
(throttle up/down). Goc xoay (roll) duoc diu khin bng cach thay di tc d gia
canh bn phai va bn trai sao cho vn gi nguyn tng luc dy sinh ra boi cp canh
nay. Tuong tu nhu vy, goc nghing (pitch) duoc diu khin bng thay di tc d cua
2 canh phia truoc va phia sau ma vn gi nguyn tng luc dy. Trong khi do, goc lch
(yaw) duoc diu khin nho vao su thay di tc d cua cp canh phai trai so voi tc
d cua cp canh truoc sau ma tng luc dy 4 canh vn khng di d Quadrocopter
gi duoc d cao.
Nhu vy, vic diu khin bay cua Quadrocopter la vic diu khin tc d quay
cua cac canh quat. So sanh voi may bay truc thng, vic di chuyn phu thuc vao goc
lch gia mt phng canh, mt phng quay so voi truc quay cua canh, phai co mt co
cu co khi d thay di goc lch nay. Co cu co khi nay co kt cu kha phuc tap, dn
dn cac sai s co khi trong qua trinh diu khin. Vic diu khin tc d cac cp motor
cua Quadrocopter thi don gian va chinh xac hon. Dy la mt uu dim lon cua
Quadrocopter.
Sau dy se m ta cu th hon cac chuyn dng bay co ban cua Quadrocopter:
15
Qui uoc h truc toa d gn vao thn Quadrocopter co cac truc duoc b tri nhu
hinh 2.2, gc toa d dt tai tm Quadrocopter.
a. Hover: Quadrocopter bay lo lung trong khng trung. O trang thai nay, tt ca
cac canh quat quay cung mt tc d khng di (O
1
=O
2
=O
3
=O
4
=O
H
).

Hnh 2.2 Hover

b. Throttle: Quadrocopter se bay ln hoc ha xung theo phuong thng dung. D
bay ln, tc d cua 4 canh quat tng ln, ha xung thi ca 4 canh cung giam tc, khi do
se tao ra mt hop luc doc truc dung lam Quadrocopter bay ln hoc bay xung.

Hnh 2.3 Throttle
Trong do:
+Z

la gia tc theo phuong Z

b
.
O
H
la vn tc goc cua canh quat.
A
A
la luong tng hoc giam cua O
H
d Quadrocopter bay ln hay xung.
Cn chu la A
A
khng duoc qua lon vi se anh huong manh dn d n dinh, cn bng
cua Quadrocopter.

c. Roll: Quadrocopter bay sang phai hoc sang trai. D bay sang phai (hoc sang
trai) ta gi nguyn tc d cua 2 canh quat truoc va sau, tng (hoc giam) tc d cua
canh quat bn trai va giam (hoc tng) tc d canh quat bn phai. Tu do tao ra
moment xon quanh truc X
b
lam cho tng luc nng cua 4 canh quat khng con nm
theo phuong thng dung ma tn tai thanh phn luc huong theo phuong chuyn dng.

16

Hnh 2.4 Roll
Trong do:
+

: gia tc goc xoay quanh truc X

b
.
O
H
la vn tc goc cua canh quat.
A
A
, A
B
(A
A
-A
B
) d tng hay giam cua vn tc goc O
H
.

d. Pitch: Quadrocopter bay toi truoc hoc bay lui v sau. Tuong tu nhu Roll, 2
canh quat trai va phai gi nguyn tc d bng nhau. D bay toi (hoc bay lui) diu
khin tng (hoc giam) tc d cua canh quat sau va giam (hoc tng) tc d canh quat
truoc, tao ta moment xon quanh truc Y
b
.

Hnh 2.5 Pitch
Trong do :
+,

: gia tc goc xoay quanh truc Y

b.
O
H
la vn tc goc cua canh quat.
A
A
, A
B
(A
A
-A
B
) d tng hay giam cua vn tc goc O
H
.

e. Yaw: Quadrocopter quay quanh truc Z
b
. Diu khin tc d cac canh quat theo
cach sau: tc d 2 canh di din thi bng nhau, nhung khac voi tc d 2 canh di din
con lai. D Quadrocopter quay quanh truc Z
b
theo chiu nguoc kim dng h, ta giam
tc d cp canh quat co chiu quay nguoc kim dng h (chiu mun quay) va tng tc
d cp canh quat quay thun chiu kim dng h. D quay quanh truc Z
b
theo chiu
thun kim dng h, ta lam nguoc lai cach trn.
17

Hnh 2.6 Yaw

Trong do:
+V

gia tc goc xoay quanh truc Z

b
.
O
H
la vn tc goc cua canh quat.
A
A
, A
B
(A
A
-A
B
) d tng hay giam cua vn tc goc O
H
.

2.2 M hnh ton cua Quadrocopter
[2]

2.2.1 Dng hc
Dng hoc la mt nganh cua co hoc m ta cac chuyn dng cua di tuong ma
khng cn xem xt cac nguyn nhn gy ra chuyn dng (luc va moment).
D m ta cac chuyn dng cua mt khung cung 6 bc tu do cn 2 h quy chiu:

Hnh 2.7 H quy chiu E v B
- h quy chiu E: la h quy chiu quan tinh Trai dt, dung d xac dinh vector vi
tri dai I
E
[m] va vector vi tri goc O
E
[rad] cua Quadrocopter.
- h quy chiu B: la h quy chiu gn voi khung Quadrocopter, dung d xac
dinh 4 vector: vn tc dai V
B
[m/s], vn tc goc e
B
[rad/s], luc F
B
[N], va
moment xon +
B
[Nm] cua Quadrocopter.
18
Trong do:
O
E
: gc toa d cua h truc quan tinh Trai dt.
x
E
: truc huong v phia Bc.
y
E
: truc huong v phia Ty.
z
E
: truc vung goc voi mt phng (x
E
,y
E
) va huong ln.
O
B
: gc toa d cua h truc gn voi khung Quadrocopter.
x
B
: truc huong v truoc cua Quadrocopter.
y
B
: truc huong qua trai cua Quadrocopter.
z
B
: truc vung goc voi mt phng khung m hinh va huong ln.
Hai vector auoc ainh nghia trong h truc E.
- Vector vj tri dai I
E
[m] duoc xac dinh tu O
E
dn O
B
:
I
E
= [X Y Z ]

T
(2.1)
- Vector vi tri goc O
E
[rad] biu din goc xoay cua h truc B di voi h truc
tham chiu E bng 3 goc Euler roll, pitch, yaw:

O
E
| 0 |

T
(2.2)
=>Vector vi tri tng quat bao gm vector vi tri I
E
va vector goc O
E
:
=[I
E
O
E
]
T
= [X Y Z ]

T
(2.3)
Bn vector auoc ainh nghia trong h truc B.
- Vector vn tc dai V
B
[m/s]:
V
B
=[u v w ]
T
(2.4)

- Vector vn tc goc e
B
[rad/s]:
e
B
=[p q r]
T
(2.5)

=>Vector vn tc tng quat
v
:
v
=[V
B
e
B
]
T
=[u v w p q r]
T
(2.6)

- Vector luc F
B
|N| va vector moment xon +
B
|Nm| se duoc tim trong phn
Dng luc hoc thng qua dinh lut 2 Newton.
D xac dinh mi lin h gia cac vector nhm m ta chuyn dng cua di tuong
cn dinh nghia 2 ma trn: ma trn quay R
O
, ma trn chuyn vi T
O
va ma trn tng
quat J
O.

- Ma trn quay R
O
co duoc bng cach nhn 3 ma trn quay co ban quanh 3 truc:
R
O
=R(, z) R(0, y) R(, x) =_
c

-s

+c

+c

+s

-c

+s

-s

_(2.7)
Trong 2 phuong trinh trn va nhng phuong trinh sau dy, cac k hiu
nay duoc su dung voi nghia: c
k
=cos k, s
k
=sin k, t
k
=tan k.
Theo do:
- Xoay quanh truc z
E
mt goc (yaw): R(, z)=_
c

-s

u

s

u
u u 1
_ (2.8)
19

- Xoay quanh truc y
1
mt goc 0 (pitch): R(0, y)=_
c

u s

u 1 u
- s

u c

_ (2.9)

- Xoay quanh truc x
2
mt goc (roll): R(, x)=_
1 u u

u c

-s

u s

_ (2.10)

- Ma trn chuyn vi T
O
:

T
O
=_
1 s

u c

-s

u s

_ (2.11)
- Ma trn tng quat J
O
:
J
O
=j
R
0
u
SxS
u
SxS
T
0
[ (2.12)
K hiu 0
3x3
th hin mt ma trn kich thuoc 3x3 co tt ca thng s bng 0.

Phuong trinh lin h gia cac vector trong h truc E va h truc B.
- Phuong trinh lin h giua 2 vector vi tri trong h truc E va vector vn tc
v
trong h truc B thng qua ma trn tng quat J
O :

(

= J
O . v
(2.13)

-
Phuong trinh mi quan h gia vn tc trong khung tham chiu B voi E:
V
E
=
I
`
E
=R
O
.V
B
(2.14)
- Phuong trinh mi quan h gia vn tc goc trong khung tham chiu B voi E
thng qua ma trn chuyn vi T
O
:
O
`

E
=T
O
.e
B
(2.15)


20
2.2.2 Dng lc hc
Dng luc hoc la mt nganh cua co hoc nghin cuu nhng tac dng cua luc va
moment trn mt vt hay h vt dang chuyn dng.
Phn nay nhim vu chinh la tim phuong trinh cua luc va moment gy ra chuyn
dng cua Quadrocopter.

Hnh 2.8 Cc lc v moment tc dng ln Quadrocopter
Theo dinh lut 2 Newton, ta co phuong trinh chuyn dng cua vt th chuyn
dng tinh tin:

m.
I
``
E
=F
E
=> m. = R
O
.F
B

=> m(R
0
. v

B
+

R

0
. v
B
) = R
O
.F
B
=> m. R
0
(v

B
+

e
B
x v
B
) = R
O
.F
B

=> m(v

B
+

e
B
x v
B
) = F
B
(2.16)
Trong do:
m [kg] khi luong cua Quadrocopter.
F
E
[N] vector luc trong h truc E.

I
``
E
[m/s
2
] vector gia tc dai trong h truc E.
v

B
[m/s
2
] vector gia tc dai xt theo h truc B.
R

0
[-] dao ham ma trn xoay.
Cac thanh phn chuyn dng xoay cua vt th tun theo dinh lut 2 Newton:
I.
=
t
E
=> I. =T
O
.t
B
=> I. e
B
+ e x (I. e
B
)=T
O
.t
B
(2.17)
Trong do:
I [Nms
2
] ma trn quan tinh trong h truc B.
[rad/s
2
] vector gia tc goc trong h truc E.
e
B
[rad/s
2
] vector gia tc goc trong h truc B.
21
Kt hop hai phuong trinh (2.16) va (2.17), ta duoc phuong trinh Dng luc hoc
tng quat cho tt ca cac khung cung 6 bc tu do:
j
m

I
SxS
u
SxS
u
SxS
I
SxS
[ _
v

B

u
B
_ +_
u
B

(
m
v
B
)
u
B

(I u
B
)
_ =j
F
B
t
B
[ (2.18)
Trong do:
I
33
la ma trn don vi kich thuoc 3x3.
F
B
va t
B
(luc tac dung va moment xon) dc trung cho nguyn nhn gy
ra chuyn dng cua Quadrocopter.
2.2.3 M hnh Newton-Euler
Cac phuong trinh chuyn dng duoc thit lp se co nhiu thun loi hon khi xy
dung trong h truc B vi nhng l do sau dy:
Cac ma trn quan tinh la bt bin theo thoi gian.
Cu truc khung di xung duoc dung d don gian hoa cac phuong trinh.
Cac php do thuc hin trn board diu khin d dang duoc chuyn di sang
h truc gn voi khung.
Cac luc diu khin gn nhu lun duoc dua ra trong h truc gn voi khung.
Phuong trinh (2.13) m ta dng hoc cua khung cung 6 bc tu do:

`
=J
O
v (2.13)
Trong do
`
la vector vn tc tng quat xt theo h truc E.
v la vector vn tc tng quat xt theo h truc B.
J
O
la ma trn tng quat.
bao gm vector vi tri dai I
E
|m| va vector vi tri goc O
E
|rad| cua
Quadrocopter xt theo h truc E:
=[I
E
O
E
]
T
= [X Y Z ]

T
(2.3)
v bao gm vector vn tc dai V
B
[m/s| va vector vn tc goc e
B
[rad/s| cua
Quadrocopter xt theo h truc B:

v
=[V
B
e
B
]
T
=[u v w p q r]
T
(2.6)
Ngoai ra, ta co ma trn tng quat J
O
xac dinh nhu sau:
J
O
=j
R
0
u
SxS
u
SxS
T
0
[ (2.12)
Ma trn quay R
O
va ma trn chuyn vi T
O
duoc xac dinh theo phuong trinh:
R
O
=_
c

-s

+c

+c

+s

-c

+s

-s

_ (2.7)
T
O
=_
1 s

u c

-s

u s

_ (2.11)
22
Dng luc hoc cua khung cung 6 bc tu do duoc m ta bng phuong trinh (2.18):
j
m

I
SxS
u
SxS
u
SxS
I
SxS
[ _
v

B

u
B
_ +_
u
B

(
m
v
B
)
u
B

(I u
B
)
_ =j
F
B
t
B
[ (2.18)
Hai gia dinh d duoc thuc hin trong cach tip cn nay:
Mt la gc cua h truc gn voi khung O
B
trung voi trong tm khi luong cua
khung. Nu khng, mt dim trong tm khac phai duoc dua vao tinh toan va no se lam
phuc tap dang k cac phuong trinh cua khung.
Hai la quy dinh rng cac truc cua h B trung voi truc quan tinh chinh cua
khung. Trong truong hop nay, ma trn quan tinh I la ma trn cho va mt ln na, cac
phuong trinh cua khung Quadrocopter tro nn d dang hon.
Vector luc tng quat A duoc xac dinh theo phuong trinh (2.19):
A =[F
B

t
B
]
T
= [Fx Fy Fz +
x +
y +
z]

T
(2.19)
Ta co th vit lai phuong trinh (2.18) duoi dang ma trn:
M
B
v` +C
B
(v ) v =A (2.20)
Trong do v` la vector gia tc tng quat xt theo h truc B.
M
B
la ma trn quan tinh h thng xt theo h truc B.
C
B
(v ) la ma trn Coriolis huong tm xt theo h truc B.
Phuong trinh (2.21) biu din ma trn quan tinh h thng:
M
B
=j
m

I
SxS
u
SxS
u
SxS
I
SxS
[ =
l
l
l
l
l
l
m u

u

u

m u

u

u

m

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u


I
XX
u

u

u

I
YY

u

u

u

I
ZZ
1
1
1
1
1
1
(2.21)
D thy rng M
B
la ma trn cho va la hng s (theo cac gia dinh nu o trn).
Phuong trinh (2.22) biu din ma trn Coriolis huong tm:
C
B
(v )
= _
u
SxS -m S(v
B
)
u
SxS -S(I u
B
)
_ =
l
l
l
l
l
l
u u u
u u u
u u u

u

mw
-
mv

-
mw

u

mu


mv
-
mu

u
u u u
u u u
u u u
u I
ZZ

i
-
I
YY

q
-
I
ZZ

i u I
XX

p
I
YY

q
-
I
XX

p

u
1
1
1
1
1
1
(2.22)
Trong do, ma trn di xung lch S duoc dinh nghia qua vector 3 chiu k theo
phuong trinh (2.23):
S

(k) S
T
(k) =_
u -k
S

k
2
k
S
u -k
1
-k
2
k
1
u
_ k =_
k
1
k
2
k
S
_ (2.23)
Phuong trinh (2.20) la phuong trinh chung va hoan toan phu hop cho moi loai
vt th cung tun theo gia thuyt (hay la vic don gian hoa) d dt ra o truoc. Tuy
nhin, no duoc su dung trong phn nay d m hinh hoa may bay Quadrocopter, vi vy
vector cui chua thng tin cu th v dng luc hoc cua Quadrocopter. A co th duoc
chia thanh 3 thanh phn theo tinh cht cua cac dong gop trn Quadrocopter.
23
Phn dong gop du tin la vector hp dn G
B
() duoc cho tu gia tc theo trong
luc g |m/s
2
|. Tht d thy rng no chi anh huong theo tuyn tinh va khng phai la
phuong trinh goc, do no la mt luc, khng phai la moment xon. Phuong trinh (2.24)
cho thy su bin di d co duoc G
B
().
G
B
() =_
B
G
F
u
Sx1
_ =_
1
R

O
E
G
F
u
Sx1
_ =_
T
R
O
_
u
u
-
mg
_
u
Sx1
_ =
l
l
l
l
l
l
mgs

-mgc

-mgc

u
u
u 1
1
1
1
1
1
(2.24)
Trong do,
B
G
F |N| la vector luc hp dn xt theo h truc B, con
E
G
F |N| xt theo h
truc E. Va do R
O
la ma trn truc giao, ma trn nghich dao
1
R

O
cua no bng chinh ma
trn chuyn vi
T
R
O
.
Phn dong gop thu hai duoc dua vao tinh toan hiu ung con quay hi chuyn gy
boi chuyn dng quay cua canh quat. Boi vi co 2 canh quat quay cung chiu kim dng
h va 2 canh quat con lai quay nguoc chiu kim dng h, co mt su mt cn bng tng
th khi tng dai s tc d cac canh quat khng bng 0. Ngoai ra, nu tc d roll hoc
pitch khac 0, Quadrocopter se chiu mt moment quay hi chuyn tinh theo cng thuc
(2.25):
O
B
(v ) O _
u
Sx1
4
1
TP
k
J
=

_
_u
B
_
u
u
1
__(-1)
k
uk
_
=_
u
Sx1
TP
J _
-q
p
u
_ u
_ =
TP
J
l
l
l
l
l
l
u u
u u
u u
u u
u u
u u
q -q
-p p
u u
q -q
-p p
u u
1
1
1
1
1
1
O (2.25)
O
B
(v) la ma trn canh quat hi chuyn va
TP
J la tng moment quan tinh quay
di voi truc canh quat (la mt hng s co gia tri bng 104x10
-6
Nms
2
) D dang nhn
thy rng hiu ung con quay hi chuyn gy boi su quay cua canh quat chi lin quan
dn goc va khng phai la phuong trinh tuyn tinh.
Phuong trinh (2.26) xac dinh tc d quay u [rad/s] cua toan th canh quat va
vector tc d canh quat O [rad/s] su dung trong phuong trinh (2.25):
u = -u
1
+ u
2
- u
3
+ u
4
O =
_
u
1
u
2
u
S
u
4
_ (2.26)
Trong do: u
1
la tc d canh quat truoc.
u
2
la tc d canh quat phai.
u
3
la tc d canh quat sau.
u
4
la tc d canh quat trai.
Phn dong gop thu ba duoc dua vao tinh toan luc va moment xon duoc truc tip
gy ra boi chuyn dng chinh cua cac yu t du vao. Xt theo khi dng hoc, ca luc va
24
moment xon du ti l thun voi binh phuong tc d canh quat. Vi vy ma trn
chuyn dng E
B
duoc nhn voi O
2
d co vector chuyn dng U
B
. Cac dong gop khi
dng hoc nhu luc dy b [Ns
2
] va luc ko d [Nms
2
] se duoc tinh toan chi tit o phn
sau.
Phuong trinh (2.27) cho thy tac dng cua vector chuyn dng ln dng luc hoc
cua Quadrocopter:
U
B
(O) E
B
O
2
=

l
l
l
l
l
l
u
u
0
1
0
2
0
S
0
4
1
1
1
1
1
1
=
l
l
l
l
l
l
u
u
b(u
1
2
+ u
2
2
+u
S
2
+ u
4
2
)
bl(-u
2
2
+ u
4
2
)
bl(-u
1
2
+ u
S
2
)
u(-u
1
2
+ u
2
2
- u
S
2
+ u
4
2
)1
1
1
1
1
1
(2.27)
Trong do, l |m| la khoang cach tu tm Quadrocopter dn tm cua mt canh quat.
0
1
, 0
2
, 0
S
va 0
4
la cac thanh phn cua vector chuyn dng d nu. Mi quan h cua
chung voi tc d cua cac canh quat xut phat tu tinh toan khi dng hoc. Biu thuc
moment xon gy ra boi 0
4
d duoc don gian hoa bng cach bo qua thanh phn O
`
.
cua no. Vi vy tt ca su di chuyn du co biu thuc tuong tu nhau va d dang kim
soat hon.
Nhu d nu o trn, ta co th xac dinh ma trn hng E
B
qua phuong trinh (2.28):
E
B
=
l
l
l
l
l
l
u u
u u
u u
u u
b b
u -bl
b b
u bl
-bl u
-u u
bl u
-u u
1
1
1
1
1
1
(2.28)
Tu phuong trinh (2.20) ta co th m ta dng luc hoc Quadrocopter xt qua 3
dong gop trn theo phuong trinh (2.29):
M
B
v` +C
B
(v ) v =G
B
() +O
B
(v ) O +E
B
O
2
(2.29)
Sp xp lai phuong trinh (2.29), ta duoc dao ham vector vn tc tng quat v` xt
theo h truc B:
v` =M
B
1
(-C
B
(v ) v +G
B
() +O
B
(v ) O +E
B
O
2
) (2.30)
Trinh bay lai cac biu thuc duoi dang h phuong trinh:

`
1
1
1
1
1
1
1
1
u = (vi - wq) +gs

v = (wp - ui) - gc

w = (uq - vp) - gc

+
U
1
m
p =
I
YY
-
I
ZZ
I
XX
qi -
TP
J
I
XX
qu +
U
2
I
XX

q =
I
ZZ
-
I
XX
I
YY
pi +
TP
J
I
YY
pu +
U
S
I
YY

i =
I
XX
-
I
YY
I
ZZ
pq +
U
4
I
ZZ

(2.31)

25
Trong do, tc d du vao cua cac canh quat duoc cho thng qua h phuong trinh:

`
1
1
1
1
0
1
= b(u
1
2
+ u
2
2
+ u
S
2
+ u
4
2
)
0
2
= bl(-u
2
2
+ u
4
2
)
0
S
= bl(-u
1
2
+ u
S
2
)
0
4
= u(-u
1
2
+ u
2
2
- u
S
2
+ u
4
2
)
u = -u
1
+ u
2
- u
S
+ u
4

(2.32)
Moment quan tinh I
XX
, I
YY
, I
ZZ
duoc xac dinh theo cng thuc:
I
dich chuyn
=I
tm
+MD
2

voi M [Kg] la khi luong cua vt th.
D [m] la d dich chuyn cua vt th so voi truc quan tinh.
=> I
XX
=M (W
2
/12 +H
2
/12) +M (D
Y
2
+D
Z
2
)
I
YY
=M (L
2
/12 +H
2
/12) +M (D
X
2
+D
Z
2
)
I
ZZ
=M (W
2
/12 +L
2
/12) +M (D
X
2
+D
Y
2
)

Hnh 2.9 Moment qun tnh khi hnh hp ch nht
H thng dng hoc cua Quadrocopter o h phuong trinh (2.31) duoc vit trong
h truc B cua khung. Nhu d d cp, tham chiu nay duoc su dung rng ri trong m
hinh khung cung 6 bc tu do. Tuy nhin, trong truong hop nay, se hu ich trong m ta
dng luc hoc nu dung h kt hop gia phuong trinh tuyn tinh xt theo h truc E va
phuong trinh goc xt theo h truc B. Vi vy cac phuong trinh sau dy se duoc biu
din trong h truc moi, tam goi la h truc 'lai H (hybrid). Tham chiu moi nay duoc
chon vi no d trong m ta dng luc hoc kt hop voi diu khin (nht la trong phuong
thng dung cua h truc trai dt E). Phuong trinh (2.33) biu din vector vn tc tng
quat xt trong h truc H :

=[
I
`
E
e
B
]
T
= [
X
`
Y
`
Z
` p q i]

T
(2.33)
H thng dng luc hoc xt theo h truc H duoc vit lai duoi dang ma trn theo
phuong trinh (2.34):
M
H

`
+C
H
() =G
H
+O
H
() O +E
H
() O
2
(2.34)
Trong do
`
la vector gia tc tng quat xt theo h truc H.
Ma trn quan tinh h thng xt theo h truc H M
H
bng voi ma trn do xt trong
h truc B, duoc xac dinh theo phuong trinh (2.21) va (2.35):
26
M
H
=M
B
=j
m

I
SxS
u
SxS
u
SxS
I
SxS
[ =
l
l
l
l
l
l
m u

u

u

m u

u

u

m

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u

u


I
XX
u

u

u

I
YY

u

u

u

I
ZZ
1
1
1
1
1
1
(2.35)
Trai lai, ma trn Coriolis huong tm xt trong h H C
H
() khng bng voi ma
trn Coriolis y xt trong h truc B, no duoc xac dinh theo phuong trinh (2.36):
C
H
() =_
u
SxS
u
SxS
u
SxS -S(I u
B
)
_ =
l
l
l
l
l
l
u u u
u u u
u u u

u

u

u


u

u

u


u

u

u

u u u
u u u
u u u
u I
ZZ

i
-
I
YY

q
-
I
ZZ

i

u I
XX

p
I
YY

q
-
I
XX

p u
1
1
1
1
1
1
(2.36)
Vector hp dn xt theo h truc H G
H
duoc dinh nghia trong phuong trinh
(2.37). Co th thy la no anh huong dn ca 3 phuong trinh tuyn tinh, thay vi chi
phuong trinh thu 3 nhu trong truong hop truoc.
G
H
=_
E
G
F
u
Sx1
_ =
l
l
l
l
l
l
u
u
-
mg
u
u
u
1
1
1
1
1
1
(2.37)
Cach hiu ung con quay hi chuyn gy boi canh quat la khng di, boi vi no chi
anh huong dn phuong trinh goc quy vao h truc B. Ma trn canh quat hi chuyn xt
theo h truc H duoc xac dinh theo phuong trinh (2.25) va (2.38).
O
H
() O =

O
B
(v ) O _
u
Sx1
TP
J _
-q
p
u
_ u
_ =
TP
J
l
l
l
l
l
l
u u
u u
u u
u u
u u
u u
q -q
-p p
u u
q -q
-p p
u u
1
1
1
1
1
1
O (2.38)
Ma trn chuyn dng xt theo h truc H E
H
thi khac voi xt trong h truc B vi
0
1

anh huong dn ca 3 phuong trinh tuyn tinh qua ma trn quay R
0
. Kt qua cua tich
ma trn chuyn dng voi tc d cac canh quat duoc chi o phuong trinh (2.39):
E
H
() O
2
=j
R
0
u
SxS
u
SxS
I
SxS
[ E
B
O
2
=
l
l
l
l
l
l
(s

+c

)0
1
(-c

+s

)0
1
c

0
1
0
2
0
S
0
4
1
1
1
1
1
1
(2.39)
Sp xp lai phuong trinh (2.34) ta duoc dao ham vector vn tc tng quat
`
xt
theo h truc H:

`
=M
H
1
(-C
H
() +G
H
+O
H
() O +E
H
() O
2
) (2.40)

27
Biu din lai cac biu thuc duoi dang h phuong trinh:

`
1
1
1
1
1
1
1
1
X = (s

+c

)
U
1
m

Y = (-c

+s

)
U
1
m

Z = -g + (c

)
U
1
m

p =
I
YY
-
I
ZZ
I
XX
qi -
TP
J
I
XX
qu +
U
2
I
XX

q =
I
ZZ
-
I
XX
I
YY
pi +
TP
J
I
YY
pu +
U
S
I
YY

i =
I
XX
-
I
YY
I
ZZ
pq +
U
4
I
ZZ

(2.41)
Dy chinh la phuong trinh Newton-Euler cua m hinh may bay Quadrocopter.
Trong do, tc d du vao cua cac canh quat cung tuong tu nhu trong h truc B,
duoc cho o phuong trinh (2.32).
2.2.4 Kh dng hc
Vic tinh toan khi dng hoc m ta cac tac dng khi quay cua canh quat trong
khng khi. Hai thng s quan trong cn xac dinh la luc dy va h s ko.
Vic tinh toan duoc thuc hin dua vao phn tich 2 vn d:
- thuyt dng luong (momemtum theory - MT)
- thuyt co ban v canh quat (blade element theory - BET)
a. Thuyt ang luong
Canh quat duoc hinh dung nhu la mt dia khi quay, luc quay no cung cp nng
luong ln khng khi va nhn lai luc phan hi.
Gia thuyt:
- Mt ng thng luong khng khi qua dia quat duoc xem nhu khng co tuong tac
voi bn ngoai.
- Dia quat nay co v s canh quat.
- D day cua dia la v cung nho.
- Vn tc theo phuong dung cua khng khi qua dia la lin tuc.
- Khng khi o dy la khi l tuong, khng bi nn.
Trong m hinh nay:
T
MT
[N] la luc dy cua canh quat, huong ln.
Vn tc cua khng khi dn canh quat gm:
v
-
[m/s] vn tc cn trn.
v
1
[m/s] vn tc tac dung truc tip phia trn dia.
v
2
[m/s] vn tc tac dung truc tip phia duoi dia.
v
+
[m/s] vn tc cn duoi.
28
Cac ap sut cua khng khi tac dung ln canh quat:
p
-
[Pa] ap sut cn trn.
p
1
[Pa] ap sut tac dung truc tip phia trn dia.
p
2
[Pa] ap sut tac dung truc tip phia duoi dia.
p
+
[Pa] ap sut cn duoi.

Hnh 2.10 M hnh cnh qut trong thuyt dng lung
Luc dy cung cp boi canh quat duoc tao ra ty l voi hiu cua 2 ap luc trn va
duoi dia (p
1
va p
2
).
T
MT
=A(p
1
p
2
)
T
MT
=m
A
(v
-
- v
+
) =
A
A v
1
(v
-
- v
+
)
Trong do: A [m
2
| la din tich cua dia quat.
m
A
|kg/s| la d thay di cua khi luong khng khi qua dia.

A
[kg/m
3
| la mt d khng khi.
Theo gia thuyt, vn tc khng khi phia trn dia v
1
bng voi vn tc bn duoi dia
v
2
. Co th vit phuong trinh Bernoulli gia - voi phn 1 va gia phn 2 voi nhu
sau:
p
-
+
1
2

A
v
-
2
=p
1
+
1
2

A
v
1
2

p
2
+
1
2

A
v
2
2
=p
+
+
1
2

A
v
+
2

Sp xp lai phuong trinh trn va xem nhu p
+
=p
-
, ta duoc:
v
1
=(v
+
+v
-
)/2
Vn tc dong khi ngay tai dia:
v
I
=(v
1
v
-
) =(v
+
v
-
)/2
Suy ra, phuong trinh cua luc dy:
29
T
MT
=2
A
A v
1
v
I

Trong truong hop v
-
=0, suy ra v
1
=v
I

Hon na, do luc dy T
MT
=W
p
=
mg
4
(trong luong duoc mang boi 1 canh quat):
W
P
=2
A
A v
I
2
v
I
=

(wp)(2
A
A ) [m/s]
Ty s luu luong vao [-| la mt dai luong duoc su dung d lin h gia vn tc
dong chay voi vn tc tai du canh quat.
=v
I
/ (e
H
R
P
).
Trong do e
H
la vn tc goc cua canh quat khi hover, R
P
la ban kinh cua no.
b. Thuyt co ban v canh quat
Thuyt dng luong d cp o trn d cung cp nhng thng tin quan trong v hoat
dng cua mt canh quat, tuy nhin di v chi tit thi vn con kha so sai.
Do do luc khi dng hoc va moment xon trn mt canh quat duoc xac dinh bng
cach su dung thuyt co ban v canh quat kt hop voi mt s khai nim dng luong.
Voi phuong phap nay, luc va moment xon duoc tinh toan bng cach ly tich phn
ring le tung luc tac dng ln mt thanh phn nho trn toan b canh quat.
Hinh 2.11 biu din mt ct cua canh quat.

Hnh 2.11 Thuyt co ban v cnh qut
Trong do:
Duong 'HORIZON vung goc voi truc canh quat (trong diu kin hover).
u
I
[rad] goc hop gia duong ngang voi duong chia canh quat.
o |rad| goc hop boi duong chia canh quat voi vector vn tc dong khi cuc b v
T

30
v
T
[m/s] la vector tng cua 2 vector v
H
|m/s| (vn tc theo phuong ngang) va v
V

|m/s| (vn tc theo phuong dung).
4
I
|rad| la goc tn luu luong dong khi vao.
dD
BET
|N/m| la vi phn cua luc ko
dL
BET
|N/m| la vi phn cua luc nng.
dF
BET
[N/m] la vector tng cua dD
BET
va dL
BET
, la vi phn cua luc khi dng hoc.
dF
BET
cung duoc chia lam 2 thanh phn gm vi phn khi dng hoc theo phuong dung
dT
BET
|N/m| va phuong ngang dH
BET
[N/m].
Vector vn tc v
v
la do su chuyn dng cua dong khi cua canh quat.
Vector vn tc v
H
la do vn tc goc cua lui canh quat.
v
v
=v
I
=e
P
R
P

v
H
=e
P
r =e
P
R
P
(r/ R
P
)
Trong do: e
P
la vn tc goc cua canh quat.
Phuong trinh vi phn cua luc nng va luc ko:
dL
BET
=0.5
A
v
H
2
C
L
c dr.
dL
BET
=0.5
A
v
H
2
C
D
c dr.
Trong do: C
L
[-| h s nng, C
D
[-| h s ko, c |m| d dai trung binh cua duong
chia canh quat.
H s C
L
thay di tuyn tinh voi goc a [rad
-1
|. Di voi cac canh mong va goc toi
cua vector dong khi dn canh quat nho thi a bng 2a |rad
-1
].
C
L
=a o =a (u
I
4
I
)
D xon cua canh quat duoc gia dinh la thay di tuyn tinh trn toan vong tron
canh quat. Vi vy m hinh gm hai hng s zero goc tn u
Io
|rad| va goc xon cua goc
tn u
Itw
. Ta co phuong trinh sau:
u
I
=u
Io
- u
Itw

Rp

Hon na, vn tc goc cua canh quat lon hon nhiu so voi tng luu luong dong
khi qua canh quat. Di voi goc nho ta dinh nghia xp xi goc dong khi 4
I
:
4
I
=
v
vH

Kt hop cac phuong trinh trn, ta co:
dL
BET
=
1
2

A
v
H
2
a (u
Io
- u
Itw

Rp
-
v
vh
) c dr
Vi phn luc theo phuong dung dT
BET
co th duoc don gian khi xp xi bng
khng voi goc tn 4
I
nho, khi do:
dT
BET
=dL
BET
cos 4
I
- dD
BET
sin 4
I
- dL
BET

Luc nng T
BET
|N| la kt qua cui cung duoc tim thy bng cach ly tich phn
dT
BET
trn toan canh quat. Hng s N
B
[-] la s canh cua canh quat N
B
2 (canh quat
co 2 canh).
31
T
BET
=N
B
]
Rp
0
(dT
BET
/ dr)dr =N
B

A
a c e
P
2
R
P
3
(0
Io
/6 - 0
Itw
/8 - /4).
Vi phn luc theo phuong ngang dH
BET
co th duoc don gian khi xp xi bng
khng voi goc 4
I
nho, khi do:
dH
BET
=dD
BET
cos 4
I
+dL
BET
sin 4
I
- dD
BET
+dL
BET

v
vH

Moment xon cua canh quat Q
BET
|Nm| la kt qua cui cung duoc tim thy bng
cach ly tich phn dH
BET
trn toan canh quat:
Q
BET
[Nm] =N
B
]
Rp
0
((dB
BET
/ dr) +(dL
BET
/ dr)
v
vh
) r dr
=N
B

A
c e
P
2
R
P
4
(C
D
/8 +a (0
Io
/6 - 0
Itw
/8 - /4)
c. J hinh aang khi ang hoc
D co luc nng khi dng hoc thi thit din vt th (canh) phai khng di xung
qua truc chinh va duong bin cua mt trn phai lon hon cua mt duoi, nhng vt th
co hinh dang thit din nhu vy duoc goi la co hinh dang khi dng hoc.

Hnh 2.12 Hnh dng kh dng hc cua cnh
Khi khng khi chay bao quanh hinh khi dng se co luc nng khi dng hoc va
dng thoi xut hin luc can. Hinh khi dng hoc nao cho hiu ung luc nng cang cao
ma luc can cang it thi duoc coi la co hiu sut khi dng hoc cang tt.
D chnh lch ap sut phu thuc vao hinh dang thit din canh tuc la phu thuc
vao hiu sut khi dng hoc cua canh, goc tn (goc chay cua khng khi tuong di voi
vt khi dng) va vn tc dong chay. Nhu vy khi vn tc dong chay dat dn d lon
nao do thi chnh lch ap sut se du d thng trong luc va vt th co th bay ln duoc.


32
2.3 Diu khin dng co mt chiu khng chi than
[3] [4]

Trong linh vuc may bay m hinh thuong su dung dng co khng chi than
(brushless DC motor) d truyn dng cho canh quat. Ngoai ra, dng co nay cung duoc
ung dung rng ri trong nhiu linh vuc cua cuc sng nhu trong cac dia may tinh,
may nghe nhac, cac b phn may moc trong cng nghip cn tc d quay cao, xe dap
din, xe may din.
Loai dng co nay co nhiu uu dim: tc d cao, moment lon, d bn cao, khng
bi mon c gop va khng phong tia lua din gy tn hao nng luong nhu dng co mt
chiu thng thuong.
Dng co mt chiu khng chi than (goi tt la BLDC) co tn goi nhu vy nhung
thuc cht no thuc nhom dng co dng b nam chm vinh cuu chu khng phai la
dng co mt chiu. Dng co dng b nam chm vinh cuu la nhom dng co xoay chiu
dng b, rotor quay cung tc d voi tu truong quay, co phn cam la nam chm vinh
cuu.
Dua vao cach sp dt phn quay rotor, dng co BLDC duoc chia thanh 2 loai la
inrunner va outrunner.

Hnh 2.13 Dng co BLDC inrunner

Hnh 2.14 Dng co BLDC outrunner
33
Vic diu khin tc d dng co BLDC dua trn nguyn tc cp xung tun tu cho
cac cun dy d tao ra tu truong quay. D thuc hin cng vic nay, ta dung mt b
diu tc co tn goi ESC (Electronic Speed Controller), chuc nng nhu mt b bin tn
bin di din ap mt chiu thanh din ap xoay chiu 3 pha co tn s thay di duoc
cung cp cho dng co. D dao chiu dng co, ta chi cn di vi tri 2 trong 3 dy pha.
Trong kt cu cua dng co BLDC, nam chm vinh cuu duoc gn vao rotor tao
thanh cac pha sao cho no quay khi co tu truong quay.

Hnh 2.15 So d du dy dng co BLDC v ESC
Trong cac m hinh may bay, ESC xac dinh tc d diu khin dua vao d rng
xung cua tin hiu PWM nhn duoc. Dang tin hiu PWM nay duoc quy chun theo
dng co RC servo, tuc la d rng xung trong khoang 12 ms, va tn s diu khin la
50Hz.

Hnh 2.16 Tn hiu PWM diu khin dua vo ESC
34


Hnh 2.17 Nguyn l to dng 3 pha
D tao ra tu truong quay cung pha voi nam chm cua rotor, ESC phai lun bit
duoc vi tri cua nam chm vinh cuu va vn tc cua no. Co 2 cach d lam diu nay:
- Cach thu nht: Su dung cam bin d nhn bit vi tri cua rotor (cam bin hall).
- Cach thu hai: cam ung 1 trong 3 pha cua xung din tu truong phan hi (xung
BEMF Back ElectroMagnetic Field pulses).
Ca hai cach du co uu nhuoc dim ring, tuy nhin hu ht cac h thng dng co
mt chiu khng chi than su dung cho m hinh bay du dung phuong phap cam ung
xung BEMF.
35

Hnh 2.18 So d chui xung

Hnh 2.19 So d mch din ESC dng phuong php cam ng BEMF
[13]
Ta thy rng, trong mt thoi dim bt ki lun lun chi co 2 pha dn din. Khi
rotor quay, cun dy cua nam chm din con lai chua co din se tuong tac voi tu
truong cua nam chm vinh cuu va phat sinh nng luong ging nhu may phat din.
ESC nhn bit xung din phat sinh nay va xung din phan hi. Diu khin vn tc cua
dng co mt chiu khng chi than bng phuong phap cam ung dua trn phat hin
36
thoi dim cua mi pha trong khoang thoi gian gia xung din th phat sinh va xung
din phan hi. Muc dich la tim thoi dim ma ca cun dy cua nam chm din khng
co din va tu truong cua nam chm vinh cuu cung chua lam cun dy phat din. Do la
dim nm trong khoang xung gia xung din th phat sinh va xung din phan hi, luc
nay ESC bit duoc vi tri cua mi nam chm vinh cuu va su dung thng tin nay d cp
din cho nam chm din dung luc tao nn mt tu truong quay sao cho cac cp cua
nam chm vinh cuu va nam chm din di din hoc la dy nhau hoc la hut nhau d
dng co quay.
Nu ta cn nam chm o rotor quay nhanh hon, ta se tng luc tu truong. Bng
cach tng d rng xung (PWM), tu truong se manh hon va lam moment xon tng,
rotor quay nhanh hon. ESC tng tn s cp xung din cho nam chm din d dap ung
dung thoi dim cung voi su tng tc cua rotor. Do do ESC phai tng d lon cua tu
truong truoc ri tip theo tng tn s xung.
2.4 B lc Kalman
[5] [6]

2.4.1 Khi nim b lc
Truoc tin, loc la mt qua trinh xu l nhm loai bo nhng gi khng co gia tri
hoc khng quan tm dn va gi lai nhng gi co gia tri su dung. Trong xu l tin hiu,
b loc duoc thit k d loc tin hiu sach (tin hiu cn tim) tu trong tin hiu nhn duoc
bao gm tin hiu sach va nhiu tin hiu bn (khng cn thit) trn ln voi nhau.
Vi du don gian la ta co tin hiu S (signal) trn ln voi nhiu N (noise) trong mt
tin hiu tng hop X. Va ta cn loc d loai bo N ra khoi X.
X(k)=S(k)+N(k)
Nu ta bit rng nhiu N dao dng xung quanh 0 va co gia tri trung binh la 0
khi M du lon.
0
) (
1
=
_
=
M
k N
M
k

Ta thy rng d loai bo N, ta co th ly tng cua X M ln
_ _
= =
=
M
k
M
k
k S k X
1 1
) ( ) (

Nhin o mt khia canh nao do ta d loai bo duoc N.
Tuy nhin, cung cn phai chu rng b loc co hoan hao toi du thi cung khng
th loai ht toan b nhiu. Th nn, cac b loc cung chi loc ra duoc tin hiu sach, theo
nghia khng con nhiu nhiu, nhung cung chi la uoc luong cua tin hiu thuc, chu
khng phai chinh xac tin hiu thuc.
2.4.2 B lc Kalman l g?
Truoc tin Kalman la tn cua nguoi nghi ra b loc nay. Vao nm 1960, R.E
Kalman d cng b bai bao ni ting v mt giai phap truy hi d giai quyt bai toan
loc thng tin roi rac tuyn tinh (discrete data linear Iiltering). Tn dy du cua bai bao
la "A New Approach to Linear Filtering and Prediction Problems" . Tu do dn nay
cung voi su phat trin cua k thut s, b loc Kalman d tro thanh chu d nghin cuu
37
si ni va duoc ung dung trong nhiu nganh k thut cng ngh khac nhau nhu trong
tu dng hoa, trong dinh vi cung nhu trong vin thng (va nhiu linh vuc khac na).
Mt cach khai quat, b loc Kalman la mt tp hop cac phuong trinh toan hoc m
ta mt phuong phap tinh toan truy hi hiu qua cho php uoc doan trang thai cua mt
qua trinh (process) sao cho trung binh phuong sai cua d lch (gia gia tri thuc va gia
tri uoc doan) la nho nht. B loc Kalman rt hiu qua trong vic uoc doan cac trang
thai trong qua khu, hin tai va tuong lai thm chi ngay ca khi tinh chinh xac cua h
thng m phong khng duoc khng dinh.
Trong h thng cua Eagle, tin hiu vao b loc gm hai tin hiu: tin hiu tu cam
bin gia tc accelerometer va tin hiu tu cam bin vn tc goc gyroscope.

Hnh 2.20 Cch thc xu l tn hiu cua b lc
Mt vi du m phong v b loc Kalman cho mt may bay chin du:

Hnh 2.21 Tn hiu thu duc chua duc lc cua my bay
Tin hiu chua qua b loc
Tin hiu d qua b loc
38
2.4.3 Ban cht cua b lc Kalman
Tn hiu do
M hnh
h thng
B loc
Kalman
` x

Hnh 2.22 M hnh ha b lc Kalman
Hinh 2.22 m hinh hoa hoat dng cua mach loc Kalman. Chung ta co tin hiu do
duoc, chung ta co m hinh cua tin hiu do duoc (doi hoi tuyn tinh) va sau do la ap
dung vao trong h thng phuong trinh cua mach loc d uoc luong trang thai quan tm.
Thuc ra tin hiu do la khng kho, phuong trinh d co sn, cai chung ta cn chinh la
m hinh hoa h thng. D co th ung dung mt cach hiu qua mach loc Kalman thi
chung ta phai m hinh hoa duoc mt cach tuyn tinh su thay di cua trang thai cn
uoc luong (estimate) hoc uoc doan (predict).
B loc Kalman don gian la thut toan xu li tin hiu hi quy ti uu. Co nhiu cach
xac dinh ti uu, phu thuc vao tiu chun lua chon thng s danh gia. Diu nay cho
thy rng b loc Kalman ti uu di voi cac chi tit cu th trong bt ki tiu chun co
nghia nao. Mt khac b loc Kalman hop nht tt ca cac thng tin duoc cung cp toi
no. No xu li tt ca cac gia tri co sn ngoai tru d sai s, uoc luong gia tri hin thoi cua
nhng gia tri cn quan tm.
2.4.4 Quy trnh uc lung
B loc Kalman d cp dn bai toan tng quat khi uoc luong trang thai cua mt
qua trinh duoc m hinh hoa mt cach roi rac theo thoi gian bng mt phuong trinh
ngu nhin tuyn tinh toan nhu sau:
1 1 1
* * w
k k k k
x A x B u

= + +
(1)
Va kt qua do dac:
k k k
v x H z + = *
(2)
Ma trn A la ma trn chuyn di tu trang thai k-1 sang trang thai k, hay ma trn
dai din cho phuong trinh h thng. Nu vector trang thai x co kich thuoc la n, thi ma
trn A se co kich thuoc la (n x n).
Ma trn B (n x l) la ma trn phu thuc vao diu khin ti uu u voi u la vector co
kich thuoc la l .
Vector do dac Z co kich thuoc la (m x 1) nn ma trn H se la (m x n), voi m la s
bin trong vector trang thai se duoc do dac.
Tip theo w va v la 2 vector bin ngu nhin dai din cho nhiu h thng va
nhiu do dac. 2 bin ngu nhin nay dc lp va duoc gia su la tun theo phn b
Gauss voi trung binh bng 0 va ma trn hip bin (covariance) ln luot 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 thoi gian (tung buoc k),
nhung o dy chung duoc gia su la khng di.
n aay ta thay bai toan loc Kalman chinh la ai tim gia tri uoc luong va uoc
aoan cua trang thai x khi ta bit auoc su bin thin cua no va ta ao auoc mt aai
luong : ma phu thuc tuyn tinh vao x.
Vi du trong bai toan chuyn dng, ta bit duoc qui lut thay di cua vn tc,
nhung ta lai co th do duoc su thay di cua vi tri. Khi do, cai ta cn tim la vn tc uoc
luong.
Nu ta gia su va ln luot la tin nghim va tin nghim uoc luong cua gia
tri x tai thoi dim k. Gia tri tin nghim thu duoc chi dua vao m hinh h thng (1),
con gia tri hu nghim la gia tri thu duoc sau khi d co kt qua do dac (2). Khi do
sai s cua uoc doan tin nghim va hu nghim ln luot la:

=
k k k
x x e `

k k k
x x e ` =

Ma trn hip bin cua 2 sai s trn duoc tinh ln luot theo cng thuc:
( )
T
k k k
e e E P

=

( )
T
k k k
e e E P =

Muc dich chung ta by gio la di tim h s K sao cho thoa mn phuong trinh sau:
( )

+ =
k k k k
x H z K x x ` * * ` `
(3)
Phuong trinh (3) co nghia la gia tri hu nghim cua uoc luong x se duoc tinh
bng gia tri tin nghim cua no va sau do thm hoc bot di mt ti dua vao sai s gia
gia tri do duoc va gia tri do dac uoc doan

k
x H ` *
. K o dy chinh la d loi (gain) cua
b loc Kalman.
Cu hoi dt ra la lam th nao d chon K ti uu nht. Ti uu o dy theo nghia la
covariance cua sai s cua uoc luong hu nghim (tinh tu (3)) ( )

=
k k k
x H z K e ` * * la nho nht.
Bng cach thay e
k
vao trong biu thuc tinh P
k
, ri sau do ly dao ham cua P
k
theo K, ta
se tim ra duoc gia tri K ma tuong ung voi no P
k
la nho nht.
1
) (

+ = R H HP H P K
T
k
T
k k

K
k
thay di theo thoi gian k va chinh la d loi cn tim cua mach loc Kalman
trong mi uoc doan.
Tom lai mach loc Kalman bao gm 2 buoc:
1- Uoc doan trang thai tin nghim
2- Dua vao kt qua do d hiu chinh lai uoc doan. Ta co th tom tt lai hoat dng
cua mach loc Kalman bng cac phuong trinh sau:
40
Gia su ta d co gia tri uoc doan
1
`
k
x o tai thoi dim (k-1) va bit duoc gia tri diu
khin
1 k
u (gia tri ban du tai thoi dim 0 duoc chon
0 0
` z H x - = ). Luc do ta chi vic
ln luot tin hanh cac tinh toan tu 1 dn 2 o buoc 'predict ri tu 1 dn 3 trong buoc
'correct nhu trong hinh 2.23.

Hnh 2.23 Cc buc xy dng b lc Kalman
2.4.5 So snh cc b lc vi b lc Kalman
Di voi cac b loc thng thp, thng cao hoc thng dai thuong duoc su dung
cho mt tin hiu vao va mt tin hiu ra voi tn s lam vic xac dinh. Ngoai dai tn
nay, tin hiu se bi lch pha, hoc d loi khng con la hng s. Do do trong truong hop
su dung hai cam bin do cung mt gia tri la goc (cung nhu vn tc goc) thi vic su
dung mt b loc thu dng to ra khng phu hop.

Hnh 2.24 Gian d Bode v pha cua b lc bc nht
41
Ta co th dung b loc b phu d kt ni hai tin hiu tu gyroscope va
accelerometer thanh mt tin hiu duy nht. Tin hiu tu accelerometer duoc dua qua
mt b loc thng thp, con tin hiu tu gyroscope qua mt b loc thng cao, tu do hai
tin hiu duoc loc se ni voi nhau thanh mt tin hiu thng nht. Uu dim cua b loc
b phu la tinh toan nhanh, d thit k. Nhuoc dim cua b loc nay la ban cht vn cua
b loc thng cao va b loc thng thp, co nghia la d loi tin hiu khng bng nhau
trong toan dai do, bi lch pha tai vung ni tn s. Hon na tin hiu gyroscope se
khng duoc cp nht thuong xuyn, d lam cho b loc mt tac dung khi lam vic
trong mi truong rung dng hay co nhit d khac nhau.
Tom lai cac b loc thng thuong la mt k thut dung phn cung (cac mach din
tu R,L,C) hoc phn mm (loc FIR, IIR, ... trong xu li tin hiu s) la nhm gi lai cac
tin hiu trong mt khoang tn s nao do va loai bo tin hiu o cac dai tn s con lai.
Trong cac b loc nay nu tn tai cac tin hiu nhiu trong dai thng tn thi kt qua
tin hiu tro nn km di rt nhiu d co th xu li va diu khin h thng mt cach n
dinh. Diu nay cang to ra rt thuc t di voi cac b loc phn cung, vn rt d bi nhiu
boi cac tin hiu din trong luc hoat dng do su km chinh xac cua cac linh kin va su
bt thuong cua dong din ng vao.

Hnh 2.25 V d so snh cc tn hiu o ng vo (mu xanh), kt qua
ng ra o b lc b ph (mu den), v o b lc Kalman (mu do)
Di voi b loc Kalman, thut ng loc khng mang nghia nhu cac b loc trn.
Dy la mt giai thut tinh toan va uoc luong thng k ti uu tt ca cac thng tin ng
vao duoc cung cp toi no d co duoc gia tri o ng ra dang tin cy nht cho vic xu li
tip theo. Do vy b loc Kalman co th su dung d loai bo cac tin hiu nhiu trn tt
ca cac dai thng ma no nhn duoc tu ng vao, d lch pha gn nhu khng tn tai va co
d loi xp xi bng 0 di voi cac tin hiu ng vao khng dang tin cy.
Mc du phai tn nhiu thoi gian xu li lnh, nhung voi tc d hin tai cua cac vi
diu khin hin nay, vic tinh toan ti uu cua b loc nay tro nn don gian va dang tin
cy hon rt nhiu. Nho co co ch tu cp nht cac gia tri tai mi thoi dim tinh toan,
cung nhu xac dinh sai lch cua kt qua do truoc va kt qua do sau nn gia tri do lun
duoc n dinh, chinh xac, gn nhu khng bi sai s v d loi va d lch pha cua cac tin
hiu.
Hon th na, do duoc xy dung boi ham trang thai, do vy b loc Kalman co th
kt hop khng chi hai tin hiu tu hai cam bin, ma co th kt hop duoc nhiu cam bin
do o nhng dai tn khac nhau cua cung mt gia tri dai luong vt li. Chinh vi diu nay,
b loc Kalman tro nn thng dung hon tt ca cac b loc khac trong vic xu li tin hiu
chinh xac cua cac cam bin toa d, cam bin la ban, GPS, gyroscope, ...
42
Voi nhng kha nng trn cng voi nhng yu cu cua d tai, b loc Kalman duoc
chon d xu li cac tin hiu tu hai cam bin dua v d co duoc tin hiu tt nht, n dinh,
va dang tin cy nht cho vic diu khin hoat dng cua h thng.
2.5 Gim st - diu khin giao tip my tnh dng phn mm LabVIEW
2.5.1 1ng quan v LabVIEW

LabVIEW (Laboratory Virtual Instrumentation Engineering Workbench) la mt
phn mm may tinh duoc phat trin boi cng ty National Instruments, tru so dt tai
M. LabVIEW co ngn ng lp trinh voi khai nim hoan toan khac so voi cac ngn
ng lp trinh truyn thng nhu ngn ng C, Pascal,... do la ngn ng lp trinh d hoa
hay con goi la lp trinh G (vit tt cua Graphical).
LabVIEW duoc dung nhiu trong cac phong thi nghim, linh vuc khoa hoc k
thut nhu tu dng hoa, diu khin, din tu, co din tu, hang khng, hoa sinh, din tu y
sinh, v.v. dung d kim tra, do luong va diu khin.
Cac chuc nng chinh cua LabVIEW:
- Thu thp tin hiu tu cac thit bi bn ngoai nhu cam bin nhit d, hinh anh tu
webcam, vn tc cua dng co,...
- Giao tip voi cac thit bi ngoai vi thng qua nhiu chun giao tip thng qua
cac cng giao tip: RS232, RS485, USB, PCI, Ethernet.

Hnh 2.26 Kha nang kt hp vi cc phn cng cua LabVIEW
43
- M phong va xu l cac tin hiu thu nhn duoc d phuc vu cac muc dich nghin
cuu hay muc dich cua h thng ma nguoi lp trinh mong mun
- Xy dung cac giao din nguoi dung mt cach nhanh chong va thm m hon
nhiu so voi cac ngn ng khac nhu Visual Basic, MatLab,...
- Cho php thuc hin cac thut toan diu khin nhu PID, Logic mo (Fuzzy
Logic), mt cach nhanh chong thng qua cac chuc nng tich hop sn trong LabVIEW.
- Cho php kt hop voi nhiu ngn ng lp trinh truyn thng nhu C, C,...
2.5.2 1m hiu mt chuong trnh LabVIEW
Chuong trinh LabVIEW duoc luu lai voi phn dui la VI (Virtual Instrument).
Mt Iile *.VI co hai thanh phn chinh la Front Panel va Block Diagram.

Hnh 2.27 Front Panel v Block Diagram trong mt chuong trnh LabVIEW
Sau dy chung ta se cung tim hiu tung thanh phn nay thng qua mt cua s
lam vic LabVIEW don gian:
- Giao ain chinh (Front Panel): la giao din nguoi dung cua ngn ng d hoa
LabVIEW, bao gm cac nut diu khin (controls) va thanh phn chi thi (indicators)
duoc hin thi mt cach truc quan, sinh dng.
44

Hnh 2.28 Front panel
- Controls =Inputs (ng vao).
- Indicators =Outputs (ng ra).
Cac input va output nay duoc ly ra tu bang diu khin, chua dung hu ht cac
ham ph bin duoc su dung trong diu khin:

Hnh 2.29 Cc chc nang diu khin v chi th| trong Front Panel
- Biu a khi (Block Diagram): la cua s soan thao cho chuong trinh d hoa.
Ni dung hin thi gm co:
- Cac khi control va indicator cua chuong trinh chinh.
- Cac duong dy lin kt tin hiu.
45

Hnh 2.30 Block Diagram
Ngoai ra, Block Diagram con chua cac ham (funtions) dung trong thit k tinh
toan va diu khin, cac ham nay se khng hin thi o Front Panel.

Hnh 2.31 Cc hm trong Block Diagram
Mau dy lin kt trong ngn ng d hoa cua LabVIEW la khac nhau cho mi
kiu d liu:

Hnh 2.32 Mu sc cua dy d liu trong LabVIEW
46
CHUONG 3: XY DJNG M HINH QUADROCOPTER
3.1 So d khi tng th cua h thng
Khung
Quadrocopter
J oysticks
Vi diu
khin
Pin 9V
Pin Lipo
Vi diu
khin
ESCs
Motors
Cm
bin
Pht RF Thu RF
: nng luong
: tc dng co hoc
: dung tn hiu
RS-232

Hnh 3.1 So d khi tng th cua h thng
H thng nhin chung se co 3 khi thanh phn chinh:
- Khi diu khin: gm cac thanh phn nhu pin 9 Volt cung cp nng luong, cac
tay joystick diu khin 4 knh throttle roll pitch yaw, vi diu khin va b phat tin
hiu bng song RF.
- Khi m hinh Quadrocopter voi b thu RF, vi diu khin chinh, cac cam bin
quan tinh IMU, cac b diu tc ESC va dng co BLDC, pin Lithium Polymer lam
ngun nui chung.
- Khi giam sat: gm co cng giao tip RS232 kt ni voi may tinh. Chuc nng
thu thp d liu, hin thi va xu l thng tin cua khi m hinh trong qua trinh tin hanh
thuc nghim.
47
3.2 Thit k co kh
Phn quan trong nht khi thit k, ch tao co khi la thanh ni gia dng co va
phn trung tm cua Quadrocopter. Dy la phn chiu luc, ung sut chu yu trn
Quadrocopter nn yu cu la tinh toan va thit k phai tt ma vn dam bao tinh thm
m cua san phm.
Yu cu chung cua thit bi la phai nhe va dam bao chiu ung sut, suc cng tt
nn nhom quyt dinh su dung vt liu la nhm d ch tao.
Yu cu thu hai la truc quay cua cac canh quat phai tht su vung goc voi mt
phng khung ch thp d khng gy ra cac sai s so voi m hinh toan d xy dung.
Ngoai ra, Quadrocopter phai dam bao khoang cach gia cac canh quat du rng d
co th chuyn dng duoc. Vi vy chiu dai l cua thanh ni phai lon hon duong kinh
D
canh quat
/V2.
Nhom chon chiu dai thanh ni la 220mm (ung voi D
canh quat
=254mm), su dung
nhm hp co kich thuoc 13x20 (mm), d day 1.0mm, ct bo vt liu o nhng vung
khng chiu ung sut d giam khi luong va ti uu hoa thit k.
Phn khop ni trung tm co nhim vu kt ni 4 canh tay tao thanh khung ch
thp cho Quadrocopter. Chi tit duoc gia cng trn may phay CNC voi phi nhm tm
co d day 1.5mm. Yu cu k thut la cac l khoan phai chinh xac d khng lam lch
hay cong vnh cac tay ni. Khop ni trung tm duoc c dinh bng rivet 4mm.

Hnh 3.2 Thit k dng cu hnh chong chng dy (pusher propeller)
O thit k du tin, m hinh su dung quat 3 canh va adapter gi canh kiu bo
truc. Do cac canh quat lp vao truc dng co la dua vao luc p va ma sat, nu bt dng
co vao khung theo cach thng thuong, canh quat nm bn trn dng co, thi khi dng
co quay nhanh, luc dy va moment xon sinh ra co xu huong lam cho cac canh quat
48
nay truot ra khoi truc, co nguy co pha v tinh n dinh va gy hu hai cho m hinh.
Vi vy bt buc phai bt dng co theo cach nguoc lai, dung cu hinh chong chong
dy, cac canh quat nm bn duoi d dam bao cho tinh n dinh va an toan cua m hinh.
Sau mt khoang thoi gian bay thu nghim, nhn thy voi thit k nay, trong tm
cua m hinh o qua cao, nm trn ca mt phng luc nng cac canh quat. Nhu vy thi
mt khi bi lch khoi vi tri cn bng, m hinh se co xu huong lt nhao d dua trong tm
v vi tri cn bng bn. Thit k kiu chong chong dy to ra khng con phu hop, no
lam mt d n dinh, m hinh se kho diu khin hon.
Ban thit k thu hai chuyn sang cu hinh dung chong chong ko d dem lai d
n dinh tt hon, du co lch khoi vi tri cn bng thi trong tm cua m hinh se tu ko no
tro lai.

Hnh 3.3 Thit k dng cu hnh chong chng ko (tractor propeller)
Tuy vy, thit k nay vn con tim n nhiu nguy co khi cac canh quat khng
duoc lp mt cach chc chn ln truc dng co.
Hon na, cac dng co BLDC khi quay co d rung, board diu khin trung tm
gn cung ln m hinh se truyn toan b rung dng nay ln cam bin, gy ra nhiu rt
lon trong tin hiu thu nhn.
Ap dung nhng thay di ln thit k thu ba, m hinh Quadrocopter hin tai d
thoa mn dy du nhng yu cu dt ra:
- Trong tm thp d nng cao d n dinh.
49
- Cac canh quat bt 'mm ln truc dng co bng prop saver voi nhiu uu dim:
khng bi truot trn truc nhu adapter cu, canh it bi hu hai do su c hay va dp, canh
quat khi quay cung it rung hon, v.v...
- Board diu khin trung tm duoc dt trn 4 vong nhua d giam duoc dang k
rung dng tac dng ln cam bin, tin hiu thu nhn nho do d chinh xac hon.

Hnh 3.4 Mu thit k th ba
J tinh toan a bn.

Hnh 3.5 M phong ng sut cho cu hnh chong chng dy
50

Hnh 3.6 M phong ng sut cho cu hnh chong chng ko


Hnh 3.7 M phong chuyn v| cho cu hnh chong chng dy

Hnh 3.8 M phong chuyn v| cho cu hnh chong chng ko
51
M phong ung sut va chuyn vi trn phn mm Solidworks, chon vt liu nhm
tuong ung la 7075-T6, dt ngam tai cac dim lin kt voi 2 tm ni, h s an toan
bng 7, luc ko tuong ung voi cng sut cuc dai cua dng co la 12N.
Kt qua m phong cho thy trn cac thanh ni khng xut hin vung ung sut
nguy him. Dim phai chiu ung sut cao nht la dim giap voi ngam chi o muc 40%
kha nng nguy him. Ngoai ra kt qua m phong con cho thy nhng phn vt liu bi
ct bo d khng h anh huong toi d bn cua thanh.
Tai biu d chuyn vi, co th thy chuyn vi lon nht thanh phai chiu la 0.12mm,
trong do chuyn vi tai vi tri dt dng co la 0.09mm. Gia tri chuyn vi nay rt nho nn
se khng gy ra nhiu sai lch so voi m hinh toan Newton-Euler d xy dung.

Hnh 3.9 M hnh my bay Quadrocopter thc t
O thit k sau cung trn m hinh thuc t, cac vong dm duoc thay bng bn
thanh xp d co hiu qua giam rung tt hon.
3.3 Thit k h thng diu khin
Cac yu cu khi thit k h thng diu khin:
- Tc d xu l phai nhanh, lun o muc cao nht co th.
- Kha nng xu l tin hiu phai tt, loai bo ti da nhiu xut hin trong qua trinh
diu khin.
- Tinh n dinh va d bn cao.
Theo do, h thng diu khin trn Quadrocopter se bao gm cac khi voi cac
chuc nng nhim vu ring nhu sau:
52
3.3.1 1ay diu khin

Hnh 3.10 So d khi tay diu khin
Nhim vu cua 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 chon truyn thng UART thay vi su dung k
thut v tuyn trai ph (Spread Spectrum) tn s FM 2.4GHz vn thng dung trong
linh vuc m hinh diu khin nay vi nhng l do v kinh phi, kinh nghim su dung,
kha nng ung dung, mo rng va phat trin sau nay cua d tai. Nhom d xy dung m
diu khin dua trn truyn thng UART, s knh diu khin va tin hiu diu khin se
d dang thay di ma khng cn can thip nhiu vao phn cung cung nhu phn mm.

Hnh 3.11 So d nguyn l tay diu khin
53

Hnh 3.12 Board diu khin
Voi muc dich xy dung mt m hinh bay co kha nng tu cn bng, thi thit bi
diu khin se dong vai tro h tro, do do tin hiu diu khin cung khng cn phai co tn
s cao hay la d phn giai lon. O dy su dung b ADC 8-bit doc din ap diu khin tu
cac joystick, quy di sang dang m ASCII in duoc va truyn dn mach trung tm nm
trn Quadrocopter. D phn giai trn mi knh tin hiu la 90, tn s truyn la 5Hz.
3.3.2 Mch trung tm

Hnh 3.13 Mch trung tm trn m hnh Quadrocopter
54

Hnh 3.14 So d khi mch trung tm
Cac nhim vu cua mach trung tm:
- nhn tin hiu hoat dng tu tay diu khin.
- xu l tin hiu tu cam bin IMU (gyroscope va accelerometer) d co duoc thng
s trang thai cua m hinh.
- xut tin hiu diu khin tuong ung ra co cu chp hanh (b diu tc - dng co).
- truyn cac thng s trang thai hoat dng ln may tinh cho muc dich giam sat.
55

H

n
h

3
.
1
5


S
o

d

n
g
u
y

n

l

c
h

t
r
u
n
g

t

m

56

Hnh 3.16 Board trung tm
Vi nhng l do nhu d n dinh cua tin hiu truyn, tit kim nng luong hoat
dng ma tay diu khin khng nht thit phai co tn s truyn cao nhu tn s hoat
dng tai mach trung tm. Do do, mach trung tm cn co thm mt vi diu khin
ATmega8 dong vai tro lam b dm.
ATmega8 su dung tn s xung clock 7.3728 MHz d khng gy ra sai s tc d
Baud khi truyn thng UART, nhn tin hiu tn s 5Hz tu tay diu khin, dng thoi
dong vai tro lam b tao xung hoat dng khi truyn lai voi tn s 50Hz cho vi diu
khin chinh. Khi co li hoc bi gian doan tin hiu tu tay diu khin, ATmega8 se ly
gia tri cui cung nhn duoc tip tuc truyn cho vi diu khin chinh.
Vi diu khin chinh ATmega128 su dung xung clock co tn s cao nht la 16
MHz d nng cao hiu sut xu l, dung b ADC 10-bit d doc tin hiu cua cam bin,
sau khi xu l bng b loc se xut tin hiu diu khin tuong ung dn tung dng co qua
4 knh PWM dc lp 16-bit.
Ngoai ra con co chuc nng kim tra din ap pin o knh ADC4, dung LED nhp
nhay canh bao khi pin yu.
57
Khi giao tip RS232 voi may tinh duoc tach ring d giam khi luong board
trung tm.

Hnh 3.17 Board giao tip RS232
3.3.3 Module RF
Module thu phat RF tn s 915MHz, dung truyn thng UART 8-bit, tc d
truyn ln dn 19200bps, co kha nng lin lac tt trong pham vi 200m.

Hnh 3.18 Module RF su dng truyn thng UART
Bang 3.1 M ta cc chn kt ni cua module RF

58

3.3.4 Cam bin IMU
IMU (Inertial Measurement Unit) la mt don vi do luong quan tinh su dung kt
hop cac accelerometer va gyroscope, co chuc nng dua ra 6 trang thai cua h thng:
goc nghing, xoay, lch va 3 vn tc goc theo 3 truc XYZ.
D do trang thai chuyn dng cua m hinh, trn mach trung tm su dung khi
IMU 5 bc tu do (gm gyroscope 2 truc IDG650, accelerometer 3 truc MMA7361L)
va mt gyro don truc LISY300AL d do bc tu do con lai.

Hnh 3.19 IMU 5 bc t do v gyroscope LISY300AL
Bang 3.2 Cc thng s k thut cua cam bin
Thng s LISY300AL

IDG650 MMA7361L
Din ap hoat dng 3.3 V 3.3 V 3.3 V
Tm do + 300
o
/s
+ 2000
o
/s
+ 440
o
/s
+ 1.5 g
+ 6.0 g
D nhay 3.3 mV/
o
/s
0.5 mV/
o
/s
2.27 mV/
o
/s
800 mV/g
206 mV/g
Tn s cng huong 4.5 KHz 25 KHz 6.0 KHz
Tn s dap ung / / 400 Hz
Gia tri goc cua accelerometer rt d bi nhiu boi nhng rung dng cua m hinh,
trong khi gia tri vn tc goc cua gyroscope lai rt it bin dng do nhiu loai nay. Tuy
nhin, nu chi dung gyro don thun thi se dn dn li tich luy. Boi vi h thng dinh
huong kiu nay lin tuc cp nht thay di so voi vi tri truoc do, bt ky sai sot nao
trong do dac, du la rt nho cung se duoc tich luy vao nhng cp nht sau nay, gy ra
hin tuong 'tri lam tng dn d sai lch gia trang thai ma cam bin dinh huong so
voi trang thai thuc t.
D loai bo nhiu rung dng nay cn phai kt hop gia tri goc cua accelerometer
voi vn tc goc doc tu gyroscope dua vao b loc thut toan Kalman, tim ra gia tri gn
voi gia tri thuc, n dinh va dang tin cy hon d dung trong diu khin hoat dng cua
h thng.

59
3.3.5 Dng co BLDC v B diu tc ESC
Trn thi truong co nhiu loai dng co mt chiu khng chi than voi cng sut
va luc nng khac nhau. O dy su dung loai dng co FC2835-10T co suc nng ti da
1.2Kg.

Hnh 3.20 Brushless motor FC2835-10T
Dng co BLDC FC2835-10T la loai outrunner, bt ln m hinh theo kiu rear
mount, co rotor la vo bn ngoai gn cac nam chm vinh cuu quay tron theo truc dng
co, con stator la li mang cac cun dy dung yn.
Bang 3.3 Thng s k thut cua dng co FC2835-10T

STT Thng s Gi tr|
1 Vn tc 830 (vong.Volt/ phut)
2 Din ap hoat dng 9.6 14.8 (Volt)
3 Dong din cuc dai 25 (Ampere)
4 Luc nng ti da 1200 (gram)
5 Kich thuoc canh quat <10x7 (inch)
Hai loai canh quat co kich thuoc phu hop voi dng co d su dung trong m hinh:

Hnh 3.21 Cnh qut GWS EP-1060Rx3
60

Hnh 3.22 Cnh qut EPP1045
Canh quat dung cho Quadrocopter la loai tc d thp (slow Ilyer). Ngoai loai
canh tractor thng dung (con goi la canh CCW, counter clockwise), Quadrocopter cn
co canh pusher (con goi la canh CW, clockwise) quay theo chiu nghich lai d trit
tiu cac moment xon sinh ra. Canh EPP1045 duoc su dung rt ph bin trong cac
m hinh multi-rotor. Tuy nhin, dy khng phai la loai canh tt nht. Canh APC va
canh Graupner co d cung, d bn va d n dinh cao hon, la lua chon thich hop cho
cac m hinh co khi luong trn 1Kg.
[9]

Chu y: phai cn chinh lai trong tm canh cho tht cn bng truoc khi lp vao
dng co d giam rung.

D dng co BLDC hoat dng duoc cn co b diu tc ESC (Electronic Speed
Controller) bin di din ap mt chiu thanh din ap xoay chiu 3 pha cung cp cho
dng co. ESC co 2 dy ngun vao duoc ni voi pin Lithium Polymer 11.1V, 3 ng
vao diu khin (gm 1 dy din ap 5V, 1 dy mass va 1 dy tin hiu PWM) kt ni voi
vi diu khin trn mach trung tm.
Hai loai ESC d dung trong m hinh:

Hnh 3.23 ESC HiModel GX-40A
Bang 3.4 Thng s k thut cua ESC HiModel GX-40A
STT Thng s Gi tr|
1 Din ap hoat dng 4.8 14.4 (Volt)
2 Dong din cp cuc dai 40 45 (Ampere )
3 BEC (battery eliminator circuit) 2A / 5V
4 Tn s diu khin pha 8KHz
5 Programmable No
61

Hnh 3.24 ESC Hobbywing Pentium 30A
Bang 3.5 Thng s k thut cua ESC Hobbywing Pentium 30A
STT Thng s Gi tr|
1 Din ap hoat dng 5.6 16.8 (Volt)
2 Dong din cp cuc dai 30 40 (Ampere )
3 BEC (battery eliminator circuit) 2A / 5V
4 Tn s diu khin pha 8KHz
5 Programmable Yes
Phuong phap aiu khin ang co khng chi than brushless DC motor:
Nhu d gioi thiu o trn, dng co mt chiu khng chi than duoc diu khin
bng b diu tc ESC co ch d tu bao v khi qua tai, bao hiu khi ngun pin khng
du hoc khng co tin hiu diu khin. Voi thng s k thut d trinh bay o chuong 2,
chu ky xung yu cu dua vao chn tin hiu cua ESC la 20ms, d rng xung (duty
cycle) la tu 1.0ms dn 2.0ms. Ngoai khoang tin hiu nay ESC se khng hoat dng nn
trong chuong trinh bt buc phai co khng ch gia tri voi min la 1.0ms, max la 2.0ms.
ATmega128 h tro 2 Timer 16-bit voi 6 knh diu khin PWM dc lp co d
chinh xac cao, nhu vy co th diu khin dc lp 4 dng co BLDC trn m hinh
Quadrocopter nay.
Mt luu khi su dung la khng duoc php tng gia tri duty cycle mt cach dt
ngt. Vi nhu vy kha nng xu l tin hiu cua b driver khng dap ung kip, d gy ra
li tin hiu va mt kim soat.
3.4 Xy dng thut ton diu khin
So d khi h diu khin cn bng:
_
iu khin
PID
ESC ng co
Cm bin
IMU
Quadro-
copter
Gc dt
0, =0
Gc thuc
0,
Sai
s
PWM
Tn
s
3
pha

Hnh 3.25 Cu trc h diu khin
62

Hnh 3.26 So d khi tn hiu diu khin hon chinh
Trong so d diu khin nay, m hinh se tu diu chinh trang thai cho phu hop voi
cac thng s diu khin (d cao, cac goc roll, pitch, yaw).
Do dc dim diu khin cua mi thng s nay la khac nhau nn ham hiu chinh
PID tuong ung cua chung cung co h s khac nhau.
Hin tai, do vic thu nhn cac thng s trang thai cua m hinh con chua tt, tin
hiu nhn duoc con bi tac dng nhiu boi nhiu, nn m hinh vn cn thm su h tro
tu nguoi diu khin d khc phuc cac sai lch nay.

Hnh 3.27 So d khi tn hiu diu khin hin ti
63
Theo do, cac ham diu khin P, PID se hiu chinh sai lch gia goc mong mun
va goc ma cam bin do duoc. Cac sai s trong do dac se duoc diu chinh lai bng tin
hiu tu tay diu khin.
Trong truong hop nay, cac goc pitch, roll mong mun duoc gan gia tri la 0.
Luu d giai thut chuong trinh diu khin chinh:
Start
Thit lp vi diu khin
Nhn thng s diu khin
(throttle, roll, pitch, yaw)
oc tn hiu
cm bin MU
X l tn hiu cm bin
Hiu chinh PD
(roll, pitch, yaw)
Xut tn hiu diu khin

Hnh 3.28 Giai thut chuong trnh diu khin chnh


64
CHUONG 4: KET QUA THJC NGHIJM
4.1. Xy dng b lc Kalman cho m hnh my bay Quadrocopter
4.1.1 Xu ly tn hiu cam bin IMU 5 bc t do
[10]

Vector R

trn h toa d dai din cho vector trong luc P

(cung huong voi gia tc

trong truong, P

= mg).

Hnh 4.1 Vector trng lc xt trong 3 trc ta d cua cam bin gia tc
Trn cam bin gia tc, tuy theo huong cua gia tc trong truong g ma tai cac ng
ra cua 3 truc XYZ se xut hin cac gia tri din ap tuong ung.
Goc nghing cua cam bin so voi gia tc trong truong duoc xac dinh nhu sau:
sinXZ =sin(A
xz
) =R
x
/ R
xz
; cosZX =cos(A
xz
) =R
z
/ R
xz
sinYZ =sin(A
yz
) =R
y
/ R
yz
; cosZY =cos(A
yz
) =R
z
/ R
yz

=> tanXZ =tan(A
xz
) =sinXZ / cosXZ =R
x
/ R
z

tanYZ =tan(A
yz
) =sinYZ / cosYZ =R
y
/ R
z

=> A
xz
=arctanXZ =atan2(R
x
, R
z
)
A
yz
=arctanYZ =atan2(R
y
, R
z
)
Trong do, R
x
R
y
R
z
xac dinh theo gia tri din ap doc duoc o ng ra cua cam bin
bng b chuyn di ADC 10-bit:
R
x
=(ADC_R
x
* V
ref
/ 1023 V
zeroGx
) / Sensitivity
R
y
=(ADC_R
y
* V
ref
/ 1023 V
zeroGy
) / Sensitivity
R
z
=(ADC_R
z
* V
ref
/ 1023 V
zeroGz
) / Sensitivity
Xac dinh cac dai luong vn tc goc cua cam bin gyroscope nhu sau:
RateA
xz
=(ADC_GyroXZ * V
ref
/ 1023 V
zeroRatexz
) / Sensitivity
RateA
yz
=(ADC_GyroYZ * V
ref
/ 1023 V
zeroRateyz
) / Sensitivity
65
4.1.2 1i uu ha thut ton Kalman
Thut toan Kalman bao ham cac php toan trn ma trn voi cac phn tu du o
dang s thuc. Do do, khi dua vao tinh toan trong vi diu khin cn phai thuc hin ti
uu hoa sao cho don gian nht nhm giam thoi gian tinh toan, tng chu ky lam vic,
nng cao hiu sut cho h thng.
Dy la thut toan Kalman sau khi duoc ti uu:
[11]

{
// Inputs
u = 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 Xc djnh cc thng s v hon chnh b lc Kalman
Cac thng s cua b loc Kalman la khac nhau di voi nhng h thng khac nhau.
Chung duoc xac dinh chu yu bng kt qua do dac thuc nghim, khng th dung mt
phuong phap toan hoc nao tinh ra duoc.
B loc Kalman ap dung cho h thng cam bin gm accelerometer va gyroscope
dung trong d tai co nhng thng s duoc xac dinh nhu sau:
- thoi gian ly mu dt =-A_01 =B_00
- phuong sai nhiu do luong R =0.3 rad =17.2
o
- phuong sai nhiu qua trinh Q
angle
=0.0001
Q
gyro
=0.0003
Va dy la kt qua thu duoc tu b loc Kalman duoc xy dung theo cac thng s
nhu trn:

Hnh 4.2 B lc Kalman hon chinh
Trong do:
~ : tin hiu tu cam bin gia tc accelerometer
~ : tin hiu goc nghing sau khi quy di
~ : tin hiu tu cam bin con quay hi chuyn gyroscope
~ : tin hiu goc nghing sau khi loc

67
4.2. Chuong trnh gim st dng phn mm LabVIEW
[7] [8]

4.2.1 Kim tra v xu ly tn hiu cam bin

Hnh 4.3 Giao din xu l tn hiu dng Kalman trn LabVIEW
Tin hiu cam bin duoc ATmega128 truyn ln LabVIEW qua cng RS232, sau
do duoc loc bng b loc Kalman.


Hnh 4.4 So d khi xu l tn hiu dng Kalman trn LabVIEW

68
D truyn nhn d liu qua cng COM, chuong trinh gm 3 khi VISA chinh:
- VISA ConIigure Serial Port: dung khai bao cac thng s giao tip nhu data bit,
time out, stop bit, VISA resource name (tn cng COM).

Hnh 4.5 Khi VI VISA Configure Port
- VISA Read: dung doc d liu v tu cng COM, byte count: s byte doc v.

Hnh 4.6 Khi VI VISA Read
- VISA Write: dung ghi d liu xung cng COM, write buIIer: d liu cn ghi
xung COM.

Hnh 4.7 Khi VI VISA Write
Ham ct chui k tu va chuyn thanh s nguyn tao thanh mt mang:

Hnh 4.8 Khi Spreadsheet String To Array
Code thut toan Kalman duoc vit trong ham Mathscript Node:

Hnh 4.9 So d khi Mathscript Node

69
4.2.2 Cim st trng thi hot dng cua Quadrocopter
Quadrocopter khi hoat dng cn duoc giam sat cac thng s: tc d cua 4 dng
co va hai goc nghing pitch, roll.


Hnh 4.10 Giao din gim st trng thi Quadrocopter
Giao din hin thi duong chn troi duoc gia lp nhu trong bung lai thuc cua
may bay. Bn canh la d thi luu lai cac gia tri goc d theo di truoc do.
Khi goc yaw duoc giam sat, co th dung thm kim la ban d chi thi huong. Tuy
nhin, giam sat nhu vy cung kho d nguoi dung co th hinh dung trang thai cua
Quadrocopter mt cach truc quan.
70
Vy nn ta cn co thm mt giao din giam sat 3D:


Hnh 4.11 Giao din gim st trng thi Quadrocopter bang hnh anh 3D
Giao din giam sat voi hinh anh 3D nay cho nguoi dung mt cai nhin truc quan
hon v trang thai thuc cua Quadrocopter.
Hinh anh hin thi trn giao din se thay di theo tung trang thai cua m hinh, qua
do th hin dy du cac thng s: goc roll, pitch, yaw, tuong quan tc d gia 4 dng
co va huong di chuyn cua m hinh.
71

Hnh 4.12 Block Diagram chuong trnh gim st trng thi
Trong chuong trinh trn co hai khi sub VI:
- Khi Sub VI Artificial Horizon: diu khin hin thi goc bay Pitch/Roll bng
hinh anh duong chn troi.


Hnh 4.13 Chuong trnh khi Artificial Horizon


72
- Khi Sub JI 3D Picture: diu khin hin thi trang thai Quadrocopter bng hinh
anh 3D.

Hnh 4.14 Chuong trnh khi 3D Picture
Phn code Mathscript Node dung d tinh toan va lua chon hinh anh hin thi.
Ngoai ra, trong LabVIEW con co chuc nng hin thi m hinh vt th 3D. Khi
m hinh duoc thit k trn Solidworks, sau do duoc dua vao hin thi trn LabVIEW.

Hnh 4.15 Mt chuong trnh LabVIEW hin th| m hnh vt th 3D
Nhom se tip tuc nghin cuu, tim hiu v chuc nng nay trong nhng phat trin
tip theo cua d tai.
73
4.3. Kt qua thc nghim v nhn xt
4.3.1 Dp ng lc dy cua ESC - Motor
90
o
E-4
Motor
E-4
Motor
E-4
Motor
Scale
1Kg
Balance
Thrust

Hnh 4.16 M hnh kim tra lc dy dng co
Trong m hinh kim tra luc dy nay, kt qua nhn duoc dua vao d thay di khi
luong cua vt nng 1Kg do duoc o cn din tu, luc dy canh quat cang lon khi luong
do duoc giam di cang nhiu.
D co kt qua do chinh xac thi truc cua dng co phai trung voi phuong cua trong
luc, nghia la goc cua dy treo vt nng va khung Quadrocopter phai bng 90
o
.
O ln do dap ung luc dy (1), m hinh su dung 4 b ESC HiModel GX-40A,
motor FC2835-10T va canh quat GWS EP-1060Rx3. ATmega128 su dung Timer 16-
bit tao xung PWM theo ch d Phase and Frequency Correct, gia tri trn thanh ghi
diu khin thay di tu 1000 dn 2000 d tao d rng xung 1.0ms dn 2.0ms cp cho
ESC.
[15]
O ln do dap ung luc dy (2), m hinh thay vao 1 ESC Hobbywing Pentium
30A, di sang canh quat EPP1045. ATmega128 su dung Timer 16-bit tao xung theo
ch d Fast PWM, gia tri thanh ghi diu khin thay di tu 2000 dn 4000 d tao
d rng xung 1.0ms dn 2.0ms cp cho ESC (xem thm o phu luc B).
Sau khi kim tra va danh gia kt qua, nhom co duoc bang tham chiu gia tri gia
luc dy cua dng co va tin hiu diu khin PWM:


74
Bang 4.1 Bang tham chiu dp ng lc dy (1) cua dng co
Thrust (g) Front Af Back Ab Right Ar Left Al
10 1107 - 1107 - 1107 - 1107 -
20 1123 16 1123 16 1123 16 1123 16
30 1135 12 1134 11 1132 9 1131 8
40 1142 7 1141 7 1140 8 1140 9
50 1155 13 1148 7 1148 8 1145 5
60 1164 9 1158 10 1156 8 1154 9
70 1172 8 1167 9 1168 12 1164 10
80 1181 9 1173 6 1175 7 1172 8
90 1190 9 1184 11 1184 9 1183 11
100 1202 12 1192 8 1192 8 1188 5
110 1205 3 1203 11 1199 7 1194 6
120 1213 8 1205 2 1204 5 1204 10
130 1227 14 1212 7 1206 2 1208 4
140 1233 6 1218 6 1216 10 1214 6
150 1240 7 1230 12 1233 17 1223 9
160 1253 13 1238 8 1241 8 1237 14
170 1261 8 1250 12 1250 9 1245 8
180 1268 7 1258 8 1260 10 1253 8
190 1270 2 1268 10 1270 10 1261 8
200 1276 6 1273 5 1273 3 1269 8
210 1285 9 1283 10 1281 8 1272 3
220 1294 9 1289 6 1286 5 1280 8
230 1302 8 1297 8 1294 8 1290 10
240 1310 8 1307 10 1302 8 1300 10
250 1323 13 1315 8 1307 5 1317 17
260 1335 12 1328 13 1319 12 1323 6
270 1343 8 1337 9 1330 11 1336 13
280 1357 14 1343 6 1340 10 1341 5
290 1362 5 1355 12 1349 9 1347 6
300 1366 4 1361 6 1354 5 1352 5
310 1368 2 1370 9 1360 6 1359 7
320 1376 8 1379 9 1371 11 1367 8
330 1387 11 1386 7 1380 9 1376 9
340 1398 11 1397 11 1390 10 1385 9
350 1403 5 1402 5 1399 9 1396 11
360 1410 7 1410 8 1409 10 1402 6
370 1415 5 1417 7 1417 8 1418 16
380 1423 8 1425 8 1424 7 1426 8
390 1431 8 1434 9 1430 6 1431 5
400 1440 9 1440 6 1434 4 1437 6
410 1448 8 1445 5 1439 5 1442 5
420 1452 4 1452 7 1448 9 1449 7
430 1462 10 1460 8 1459 11 1454 5
440 1464 2 1467 7 1466 7 1460 6
450 1468 4 1470 3 1471 5 1466 6
75

Bang 4.2 Bang tham chiu dp ng lc dy (2) cua dng co
Thrust (g) Front Af Back Ab Right Ar Left Al
10 2100 - 2214 - 2214 - 2214 -
20 2130 30 2235 21 2235 21 2235 21
30 2160 30 2250 15 2255 20 2255 20
40 2190 30 2270 20 2278 23 2275 20
50 2222 32 2280 10 2285 7 2285 10
60 2255 33 2300 20 2310 25 2300 15
70 2285 30 2320 20 2327 17 2315 15
80 2315 30 2340 20 2343 16 2344 29
90 2345 30 2350 10 2355 12 2355 11
100 2375 30 2370 20 2375 20 2370 15
110 2403 28 2380 10 2390 15 2382 12
120 2430 27 2400 20 2402 12 2396 14
130 2455 25 2406 6 2414 12 2410 14
140 2485 30 2412 6 2430 16 2420 10
150 2510 25 2430 18 2443 13 2435 15
160 2530 20 2445 15 2460 17 2452 17
170 2560 30 2465 20 2477 17 2470 18
180 2590 30 2480 15 2495 18 2480 10
190 2620 30 2495 15 2510 15 2500 20
200 2645 25 2510 15 2525 15 2520 20
210 2670 25 2528 18 2541 16 2535 15
220 2696 26 2539 11 2550 9 2550 15
230 2715 19 2550 11 2568 18 2570 20
240 2740 25 2570 20 2580 12 2584 14
250 2770 30 2590 20 2605 25 2600 16
260 2800 30 2605 15 2625 20 2620 20
270 2825 25 2620 15 2640 15 2640 20
280 2855 30 2635 15 2655 15 2656 16
290 2885 30 2652 17 2673 18 2670 14
300 2915 30 2670 18 2683 10 2677 7
310 2945 30 2675 5 2695 12 2690 13
320 2975 30 2690 15 2710 15 2705 15
330 3010 35 2705 15 2725 15 2720 15
340 3040 30 2730 25 2740 15 2737 17
350 3070 30 2750 20 2757 17 2759 22
360 3100 30 2770 20 2777 20 2772 13
370 3120 20 2790 20 2797 20 2786 14
380 3150 30 2802 12 2810 13 2805 19
390 3180 30 2816 14 2822 12 2820 15
400 3200 20 2832 16 2832 10 2832 12
Ghi chu. ESC Hobbywing Pentium 30A diu khin motor dt o phia truoc.
ESC HiModel GX-40A diu khin 3 motor con lai.
76

Hnh 4.17 D th| dp ng lc dy (1) cua dng co

Hnh 4.18 D th| dp ng lc dy (2) cua dng co
1100
1150
1200
1250
1300
1350
1400
1450
1500
1
0
3
0
5
0
7
0
9
0
1
1
0
1
3
0
1
5
0
1
7
0
1
9
0
2
1
0
2
3
0
2
5
0
2
7
0
2
9
0
3
1
0
3
3
0
3
5
0
3
7
0
3
9
0
4
1
0
4
3
0
4
5
0
Back Front Right Left
2100
2300
2500
2700
2900
3100
1
0
3
0
5
0
7
0
9
0
1
1
0
1
3
0
1
5
0
1
7
0
1
9
0
2
1
0
2
3
0
2
5
0
2
7
0
2
9
0
3
1
0
3
3
0
3
5
0
3
7
0
3
9
0
Back Front Right Left
77
Nhan xet.
- Duong dap ung luc dy nhin chung la tuyn tinh voi tin hiu diu khin.
- Tuy nhin, trn duong dap ung co xut hin nhiu doan gy khuc, nguyn nhn
la do: b diu tc ESC hoat dng chua tt, hinh dang khi dng hoc cua canh quat chua
tt nn luc dy tao ra khng dng du.
- Dap ung luc dy thu duoc la tt nht voi ESC Hobbywing Pentium 30A va
canh quat EPP1045.
4.3.2 Dp ng cua m hnh vi cc thng s diu khin PID

Hnh 4.19 So d khi b diu khin PID vi cc khu ti l, tch phn, do hm
Trong diu khin cn bng, m hinh may bay Quadrocopter thuong su dung 3
loai diu khin la P, PD va PID, voi gia tri cn hiu chinh la cac goc roll, pitch, yaw
nhn tu cam bin IMU.
Do gioi han cua d tai chi tp trung vao giai thut diu khin cn bng, chua co
cam bin chi phuong d xac dinh goc yaw nn se ap dung diu khin P d khng ch
goc lch nay. Gia tri dua vao o dy la vn tc goc ly tu gyroscope LISY300AL.
Voi cac goc pitch, roll se su dung b diu khin PD, PID. Sau dy la kt qua
thuc nghim cho diu khin cn bng cac goc nay:
a. iu khin PD
Co 4 phuong phap xac dinh thng s cua b diu khin:

- Diu chinh thu cng: khng cn hiu bit v toan, dua trn thuc nghim va doi
hoi kinh nghim cua nguoi diu chinh.
- ZieglerNichols: phuong phap chung minh, dua trn thuc nghim, nhuoc dim
la lam ri loan qua trinh, mt s thu nghim gy li, phai diu chinh nhiu ln
- Dung cng cu phn mm: diu chinh chc chn, dua trn thuc nghim hoc
trn tinh toan, cho php m phong truoc khi ap dung thuc t, co nhuoc dim la doi
hoi chi phi cao va phai duoc hun luyn.
- CohenCoon: xu l cac m hinh tt, dua trn tinh toan va yu cu phai vng
kin thuc toan hoc, nhuoc dim la chi tt di voi cac qua trinh bc mt.
78
Nhu vy, trong diu kin cua d tai, co th dua vao ni dung cua phuong phap
ZieglerNichols lam co so d xac dinh cac thng s P, D. Theo do:
- O khu P, dua vao gia tri goc do dac, so sanh hiu chinh voi goc cn bng zero.
- O khu D, dua vao gia tri dao ham theo thoi gian cua goc xoay, dy chinh la
gia tri cua cam bin gyroscope nn ta khng cn phai tinh toan thm.
Ban du, cac thng s I va D duoc gan bng 0. D loi P duoc tng cho dn khi
tin toi gioi han, o du ra cua vong diu khin bt du dao dng. Sau do giam gia tri P
xung mt nua va bt du diu chinh gia tri khu D.
Voi cac thng s duoc xac dinh la P 8.5, D 35.0, m hinh thu duoc dap ung
nhu sau:


Hnh 4.20 D th| dp ng PD cua gc pitch vi tc dng
79

Hnh 4.21 D th| dp ng PD cua gc roll vi tc dng
M hinh diu khin cua goc pitch va roll la tuong duong nhau nn cac thng s
P, D cua chung cung ging nhau.
Dua vao d thi co th thy la kt qua dap ung cn bng trn 2 truc XY d kha tt.
Du vn con dao dng + 3
o
nhung goc gi d rt n dinh quanh gia tri cn bng.
Sau khi thu nghim voi diu khin PD nay, m hinh d bay duoc nhung muc n
dinh con thp, thoi gian bay cn bng lu nht chi dat khoang 15 giy. D dat d n
dinh cao hon, b diu khin cn thm thng s I.

80
b. iu khin PID



Hnh 4.22 D th| dp ng PID cua gc pitch
81

Hnh 4.23 D th| dp ng PID cua gc roll
82
Trong b diu khin nay:
- O khu P va khu I, so sanh hiu chinh gia goc do dac voi goc diu khin.
- O khu D, dua vao gia tri vn tc goc cua cam bin gyroscope.
Voi cac thng s diu khin la P 5.0, I 0.25, D 35.0, m hinh thu duoc dap
ung nhu trn.
Qua d thi, ta co th thy:
- Dap ung cn bng d tt hon so voi b diu khin PD.
- O cac goc diu khin tu 10
o
dn

10
o
, duong dap ung co d tr.
- Khi goc diu khin khac 0, duong dap ung con sai s, khng tt nhu goc 0
o
.

Hnh 4.24 Thc nghim dp ng diu khin gc vi m hnh trn gi d
(trong tm cua m hinh duoc b tri nm bn trn truc xoay)
c. Nhan xet chung
- Cac thng s diu khin PID d chon la phu hop voi m hinh h thng.
- Tuy nhin, do tn s cp nht cua b diu khin con thp (50Hz) nn duong
dap ung con dao dng voi sai s + 3
o
.
- Motor va canh quat vn con rung nhiu, gy sai s ln kt qua do va lam anh
huong dn cht luong dap ung cua h thng.
83
a. Kim tra m hinh aang bay thuc t





Hnh 4.25 Nhng hnh anh bay thc t cua m hnh Quadrocopter
Trong ln bay thuc t nay, m hinh duoc gi bng dy treo d kim tra tinh cn
bng. Kt qua cho thy m hinh Quadrocopter d co kha nng tu cn bng, co th
chng chiu duoc voi tac dng bn ngoai ma vn gi duoc goc bay n dinh.
Tuy nhin, do qua trinh tinh toan goc zero vn con bi sai lch, nn d co th bay
tu do duoc thi m hinh cn phai duoc diu chinh va kim tra thm.

84
CHUONG 5: KET LUAN
5.1. Nhng kt qua dt duc
Voi cac muc tiu d tai d dt ra, qua qua trinh thuc hin, nhom nghin cuu d
dat duoc nhng kt qua nhu sau:
J nghin cuu ly thuyt.
D co su nghin cuu va nm bt mt cach tng th v nguyn l hoat dng,
nguyn l diu khin, l thuyt tng quan v dng hoc, dng luc hoc, khi dng hoc va
m hinh toan cua thit bi bay dang Quadrocopter.
J thit k co khi.
- Thit k hoan chinh m hinh co khi trn phn mm chuyn dung Solidworks.
- Tin hanh m phong tinh toan ung sut va chuyn vi d dam bao v d bn,
kha nng chiu moment xon, moment un.
- Ch tao m hinh bng gia cng CNC dat d chinh xac v kich thuoc va kha ti
uu v khi luong (1365g), tn dung duoc ngun thit bi va vt liu sn co trn thi
truong.
- M hinh dam bao duoc cac yu cu v k thut va thm m.
J thit k aiu khin.
- Mach diu khin duoc thit k trn phn mm chuyn dung Proteus, chuong
trinh diu khin duoc m phong tinh toan truoc khi thuc hin. Mach co kha nng mo
rng kt ni thm nhiu module khac.
- Chuong trinh diu khin duoc vit kha hoan chinh va linh hoat, cho php diu
khin m hinh Quadrocopter ct canh, ha canh, quay trai, quay phai va di chuyn theo
cac huong truoc, sau, trai, phai.
- B diu khin tu xa dung truyn thng UART voi m diu khin mo, d thay
di, co kha nng mo rng va phat trin tt ln cac ung dung diu khin giam sat co
yu cu cao hon.
- Xu l tt tin hiu thu duoc tu cam bin quan tinh IMU (gm accelerometer va
gyroscope), ap dung thanh cng b loc thut toan Kalman, khc phuc tt vn d nhiu,
ly duoc kt qua do rt gn voi gia tri thuc phuc vu cho vic diu khin cn bng.
- Ap dung hiu chinh PID, diu khin phi hop tc d cua 4 dng co BLDC dat
duoc kt qua dap ung cn bng kha tt.
- Chuong trinh kim tra giam sat trang thai bng phn mm LabVIEW giao din
truc quan, sinh dng, co kha nng mo rng tinh nng giam sat, thu nhn thm hinh
anh, video, v.v...
85
5.2. Nhng kt qua chua dt duc v bin php khc phc
Bn canh nhng kt qua dat duoc, d tai vn con nhng tn tai, han ch cn phai
khc phuc:
- Phn khung nhin chung vn con kha nng, cn duoc giam xung khoang
11.2Kg d tng khi luong chiu tai cho m hinh. Co th thay th vt liu nhm dang
dung bng carbon ng, carbon tm va nhua ABS d giam khi luong.
- Dap ung cua dng co con chm, nguyn nhn la b diu tc ESC giao thuc
PWM dang su dung co tn s cp nht thp, o muc 50Hz. Va tc d diu khin cua 4
ESC nay cung chua tht dng du, vn co sai s tc d gia 4 dng co o cung 1 tin
hiu diu khin. Cn co su du tu nghin cuu v chiu su, ch tao ESC su dung giao
thuc SPI, I2C d tng tc d dap ung cho h thng.
- Dng co va canh quat chua dat duoc su dng b tt nht, khi hoat dng vn
con gy ra nhiu rung dng ln m hinh. D cai thin vn d nay, cn thay th dng co
dang dung bng cac loai dng co khac co cht luong tt hon.
- Cp module RF hin co kha nng diu khin tt nht trong pham vi 10m. D
dap ung tt cac ung dung sau nay, cn thay th bng module truyn thng khac co tm
hoat dng xa hon.
5.3. Hung pht trin cua d ti
- Tich hop thm cac cam bin khac giup Quadrocopter hoat dng tt hon:
la ban din tu d xac dinh phuong huong.
cam bin ap sut xac dinh d cao.
cam bin siu m xac dinh d cao va thm do dia hinh.
cam bin hng ngoai nhn bit duong chn troi nhm nng cao kha nng
cn bng.
tich hop h thng dinh vi toan cu GPS xac dinh toa d bay.
v.v...
- Lp thm camera quay phim va chup anh gui v may tinh theo duong truyn
wifi ung dung trong do tham.
- Hin nay o Vit Nam d bt du co nhu cu v loai d choi cng ngh cao dang
Quadrocopter, vi th vic nghin cuu d hoan thin va thuong mai hoa loai san phm
nay la mt huong phat trin tt.

86
TI LIJU THAM KHAO
[1] L Cng Danh, Nghin cuu, thit k va ch tao m hinh may bay ln thng
bn chong chong co kha nng nng tu can bng va ai chuyn trong nha,
TP.HCM, 10/2009.
[2] Tommaso Bresciani, Modelling, Identification and Control of a Quadrotor
Helicopter, Lund University, Sweden, 10/2008.
[3] Nguyn Dinh Hoi, L Thanh Long, Nguyn Ngoc Tuyn, D Anh Thuong,
Dng Anh Tu, Thit k ch tao m hinh bay Quaarotor, Dai hoc Cng
nghip Ha Ni, 06/2010.
[4] SteIan Baldursson, BLDC Motor Modelling and Control A
Matlab/Simulink Implementation, Chalmers University, Sweden, 05/2005.
[5] Mai Vn Nam, L Nguyn Binh, Hoang Quang Minh Tri, Nghin cuu thit
k ch tao xe tu can bng ang, Dai hoc Su pham K thut TP.HCM,
07/2009.
[6] Mai Tun Dat, Xe hai banh tu can bng ai chuyn trn aia hinh phng, Dai
hoc Bach khoa TP.HCM, 07/2005.
[7] Prentice Hall, LabVIEW for Everyone: Graphical Program Made Easy and
Fun, Third Edition, 27/07/2006.
[8] National Instruments, LabVIEW Basics I & II Course Manual version 6.0,
09/2010.
[9] RC Groups, Quadrocopter and Tricopter Info Mega Link Index, 12/2010.
URL http://www.rcgroups.com/forums/showthread.php?t=1097355
[10] Starlino, A Guide To using IMU (Accelerometer and Gyroscope Devices) in
Embedded Applications, 12/2010.
URL http://www.starlino.com/imu_guide.html
[11] SparkFun Electronics, Help with implementing Kalman filter for IMU 5?,
09/2010.
URL http://forum.sparkfun.com/viewtopic.php?t=6186
[12] Cu lac b M hinh, 01/2011.
URL http://www.clbmohinh.com/forum/
[13] MikroKopter, 01/2011.
URL http://www.mikrokopter.de/
https://www.mikrocontroller.com/
[14] Multicopter Wiki, Multicopter Table, 12/2010.
URL http://multicopter.org/wiki/Multicopter_Table
[15] Machine Intelligence Laboratory, Generating PWM signals using Timers in
the ATmega chip, 08/2010.
URL http://mil.ufl.edu/~achamber/servoPWMfaq.html
87



PHJ LJC A
BAN V M HINH MY BAY QUADROCOPTER







88
PHJ LJC B: VI DIEU KHIEN ATMEGA128

Yu cu cua h thng diu khin la dap ung nhanh do do doi hoi mt loai vi diu
khin manh, co tc d xu l nhanh, co kha nng ghp ni voi nhiu thit bi nhu
module RF, cam bin gyro va gia tc, va co th tich hop thm cac module khac na.
ATmega128, thuc dong vi diu khin AVR cua Atmel, la mt vi diu khin rt manh,
du d dap ung cac yu cu h thng dt ra.

Nhng ac tinh co ban.
- Flash: 128 Kbytes
- EEPROM: 4Kbytes
- SRAM: 4Kbytes
- 64 thanh ghi I/O
- 160 thanh ghi vao ra mo rng
- 32 thanh ghi da muc dich.
- 2 b dinh thoi 8-bit (Timer/Counter 0,2)
- 2 b dinh thoi 16-bit (Timer/Counter 1,3)
- B dinh thoi watchdog
- B dao dng ni RC tn s 1 MHz, 2 MHz, 4 MHz, 8 MHz
- Tn s ti da 16MHz
- ADC 8 knh voi d phn giai 10-bit (O dong Xmega ln toi 12-bit )
- 2 knh PWM 8-bit
- 6 knh PWM co th lp trinh thay di d phn giai tu 2 toi 16-bit
- B so sanh tuong tu co th lua chon ng vao
- Hai khi USART lp trinh duoc
- Khi truyn nhn ni tip SPI
- Khi giao tip ni tip 2 dy TWI
- H tro boot loader
- 6 ch d tit kim nng luong
- Lua chon tn s hoat dng bng phn mm
- Din th : 4.5V - 5.5V
89
ATmega128 co tt ca 64 chn, bao gm 7 cng (port ) vao ra 8-bit la : PortA,
PortB, PortC, PortD, PortE, PortF, PortG , tuong ung voi 56 duong vao ra va 8 chn
con lai RESET, XTAL1, XTAL2, AVCC, AREF, PEN va 2 chn GND.

Hnh B.1 So d khi vi diu khin ATmega128
B.1 ADC trong ATmega128
Trong ATmega 128 co tich hop 8 ng ADC voi d phn giai 10-bit.
Tin hiu tuong tu dua vao cac ng ADC0:7 duoc ly mu va chuyn thanh tin
hiu s.Tin hiu s duoc luu trong 2 thanh ghi ADCH, ADCL. Mt ngt co th tao ra
khi hoan thanh mt chu trinh chuyn di ADC.
Khi lam vic voi ADC cn quan tm dn 2 dai luong:
- Din ap tham chiu: la gia tri din th dung d so sanh voi din th cua tin hiu
tuong tu cn bin di o ng vao ADC. Co 3 lua chon din th tham chiu: AVCC
bng voi VCC, din ap tham chiu ni 2.56V va din ap tham chiu ngoai VreI la tuy
chon.
90
- Tn s clock: la tn s clock cung cp cho ADC, tn s thich hop cho d phn
giai 10-bit khoang tu 50-200KHz. Khi su dung ADC 8-bit ta co th nng tn s nay
ln khoang 500-700KHz (tc d ly mu o d phn giai 8-bit nhanh hon rt nhiu so
voi 10-bit). Tn s xung clock nay duoc ly dua vao system clock sau khi duoc chia
thng qua 3 bit ADPS2:1:0 cua thanh ghi ADCSRA.

Hnh B.2 So d khi don gian cua b ADC trong AVR
B ADC co 2 ch d hoat dng:
- Free running: chuyn di lin tuc, la ch d sau khi khoi dng thi b ADC thuc
hin chuyn di lin tuc.
- Single conversion: chuyn di tung buoc, b ADC sau khi hoan thanh 1 chuyn
di se ngung, chuyn di tip theo duoc bt du khi co yu cu.
Cac thanh ghi cua b chuyn di ADC:
1/ ADC Multiplexer Selection Register ADMUX: thanh ghi lua chon ng vao analog.
2/ ADC Control and Status Register A ADCSRA: thanh ghi trang thai va diu khin.
3/ The ADC Data Register ADCL va ADCH: thanh ghi chua kt qua chuyn di.
Voi dong vi diu khin AVR, vic thit lp cac thanh ghi nay duoc h tro bng
chuc nng CodeWizard trong phn mm lp trinh CodeVisionAVR, giup cho nguoi
su dung d dang thao tac voi cac tinh nng da dang cua vi diu khin.
D thit lp hoat dng cho b ADC voi chuc nng h tro CodeWizardAVR nay,
ta thuc hin cac buoc sau:
- Cho php b ADC hoat dng.
- Cu hinh cho b ADC: chon din ap tham chiu, tn s xung clock, ch d hoat
dng (8-bit, 10-bit), cac ngt.
91

Hnh B.3 Thit lp b ADC dng CodeWizardAVR
B.2 USART trong ATmega128
B.2.1 1m lut v USAR1
USART (Universal Synchronous and Asynchronous serial Receiver and
Transmitter - b truyn nhn ni tip dng b va bt dng b) la khi chuc nng dung
cho vic truyn thng gia vi diu khin voi cac thit bi khac.
Cach thuc truyn d liu chia ra hai ch d co ban: dng b (Synchronous) va
bt dng b (Asynchronous):
- Truyn dng b: la kiu truyn d liu trong do b truyn (Transmitter) va b
nhn (Receiver) su dung chung mt xung dng h clock, xung clock dong vai tro la
tin hiu dng b cho h thng. Uu dim cua kiu truyn dng b la tc d nhanh,
thich hop khi truyn d liu khi block.
- Truyn bt dng b: la kiu truyn trong do b truyn va b nhn co b tao
xung clock ring, tc d hai xung clock nay co th khac nhau, nhung thuong khng
qua 10.
Tu hai kiu truyn d liu co ban trn, nguoi ta dua ra nhiu giao thuc (Protocol)
truyn khac nhau nhu: SPI (dng b), USRT (dng b), UART (bt dng b).
B.2.2 Cii thiu b USAR1 cua ATmega128
ATmega128 co hai b USART la USART0 va USART1. Hai b USART nay la
dc lp nhau, diu nay co nghia la hai khi USART0 va USART1 co th hoat dng
cung mt luc.
92

Hnh B.4 So d khi USART
Trong so d khi trn co 3 phn chinh: Clock Generation, Transmitter, Receiver.
Chn XCK chi duoc dung trong mode truyn dng b. Chung ta hoan toan co th
kim tra qua trinh truyn nhn din ra nhu th nao qua: Irame error, data overrun va
parity errors.
Cac thanh ghi cua khi USART:
1/ Internal Clock Generation The USART Baud Rate Generator UBRR: thanh ghi
thit lp tc d truyn.
2/ USART I/O Data Register UDRn: thanh ghi b dm truyn,nhn d liu.
3/ USART Control and Status Register A UCSRnA
4/ USART Control and Status Register B UCSRnB
5/ USART Control and Status Register C UCSRnC
6/ USART Baud Rate Registers UBRRnL va UBRRnH: thanh ghi tc d truyn
93
D thit lp b UART voi CodeWizardAVR, ta thuc hin cac buoc sau:

Hnh B.5 Thit lp UART dng CodeWizardAVR
- Chon khi USART cn su dung (USART0 hoc USART1), chon ch d truyn bt
dng b Asynchronous.
- Cu hinh khi USART: bt knh truyn / nhn, tc d truyn, cac thng s giao tip,
cac ngt.
B.3 To tn hiu PWM bang Timer trong ATmega128
ATmega128 co 4 b dinh thoi , b dinh thoi 1 va 3 la b dinh thoi 16-bit, b dinh
thoi 0 va 2 la b dinh thoi 8-bit.
Cac dinh nghia quan trong truoc khi tim hiu tin nng PWM cua cac b dinh thoi
(Timer/Counter).
- BOTTOM: la gia tri thp nht ma b Timer/Counter co th dat duoc, gia tri nay
lun la 0.
- MAX: la gia tri lon nht ma b Timer/Counter co th dat duoc .Vi du voi b
Timer/Counter 8-bit thi MAX la 0xFF (255), 16-bit thi MAX la 0xFFFF(65535).
- TOP: la gia tri khi Timer/Counter dat dn no se thay di trang thai, gia tri nay
khng nht thit la MAX, gia tri TOP duoc thay di bng cach diu khin cac thanh
ghi tuong ung.

94
Cac thanh ghi trong Timer/Counter 1 (Timer/Counter 3 tuong tu):
1/ Timer/Counter 1 Control Register A TCCR1A: thanh ghi diu khin

Bit 7:2 COMnX1:0 (X=A,B,C): Compare Output Mode for channel X: diu khin
cach hoat dng cua ng ra so sanh (Compare Output) cua ln luot cac chn OCnA,
OCnB, OCnC (n=1,3).
Bit 1:0 WGMn1:0: Waveform Generation Mode: kt hop voi cac bit WGMn3:2
trong thanh ghi TCCRnB, nhng bit nay cho php lua chon ch d thuc thi cua b
dinh thoi, quy dinh ch d hoat dng cua Timer/Counter 1.

2/ Timer/Counter 1 Control Register B TCCR1B:

Bit 2:0 CS12:0: Clock Select: quy dinh chon ngun xung clock cho Timer/Counter.

95
3/ Timer/Counter1 TCNT1H va TCNT1L: thanh ghi b dinh thoi TCNT1 la thanh ghi
16-bit duoc kt hop tu hai thanh ghi TCNT1H va thanh ghi TCNT1L. Thanh ghi
TCNT1 co th doc hay ghi. Khng nn chinh sua thanh ghi TCNTn (n=1,3) khi no
dang dm d tranh bi hong Compare Match gia TCNTn va mt trong nhng thanh
ghi OCRnX (n=1,3. X=A,B,C)
4/ Output Compare Registers:
Output Compare Register 1 A OCR1AH va OCR1AL
Output Compare Register 1 B OCR1BH va OCR1BL
Output Compare Register 1 B OCR1CH va OCR1CL
La thanh ghi chua gia tri 16-bit lun duoc so sanh voi TCNT1, mt su kin xay
ra khi 2 thanh ghi nay bng nhau tao dang xung ng ra o cac chn OCnX.
5/ Input Capture Register 1 ICR1H va ICR1L: thanh ghi Input Capture (ICR1n) se
cp nht gia tri cua b dm TCNTn mi khi xay ra su kin o chn ICPn. Ngoai ra
thanh ghi nay con duoc su dung d dinh nghia gia tri TOP cua b dm.
6/ Timer/Counter Interrupt Mask Register TIMSK: thanh ghi diu khin ngt
Ba ch d diu ch d rng xung (PWM) chinh trong Timer/Counter 1:
- Fast PWM: PWM tn s cao. Hoat dng trn 1 suon xung, dm tu BOTTOM
ln TOP sau do reset v BOTTOM dm lai.

Hnh B.6 Gian d thi gian o ch d Fast PWM
Cng thuc xac dinh tn s cho Fast PWM (N la h s chia 1, 8, 64, 256, 1024):

- Phase Correct PWM: PWM voi pha chinh xac (hight resolution). Ch d nay
hoat dng dua trn 2 suon ln xung, dm tu BOTTOM ln TOP ri tu TOP tro v
BOTTOM. Hoat dng theo 2 suon xung nn ch d nay khng tao ra tn s nho nhu 1
suon xung cua Fast PWM. D phn giai xac dinh bng thanh ghi ICRn hoc OCRnX.
96

Hnh B.7 Gian d thi gian o ch d Phase Correct PWM
Cng thuc xac dinh tn s cho Phase Correct PWM:

- Phase and Frequency Correct PWM: ch d PWM voi pha va tn s chinh
xac. Ch d nay hoat dng dua trn 2 suon ln xung ging voi Phase Correct, dm tu
BOTTOM ln TOP ri tu TOP tro v BOTTOM. Khac nhau o ch thoi gian cp nht
gia tri cua thanh ghi OCRnX o BOTTOM chu khng phai o TOP.

Hnh B.8 Gian d thi gian o ch d Phase and Frequency Correct PWM
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Cng thuc xac dinh tn s cho Phase Correct PWM:

So sanh cac ch d nay o diu kin ap dung vao d tai, ta thy:
- Hai ch d PWM pha chinh xac ung dung tt cho diu khin tc d dng co.
- Tuy nhin khi chung mt tn s, hoat dng suon di lam cho d min cua ch d
pha chinh xac bi giam 2 ln so voi ch d Fast PWM.
- Dung ch d Fast PWM nu gi c dinh gia tri TOP bng thanh ghi ICRn, ta
cung duoc tn s va pha PWM n dinh d diu khin dng co, mt khac lai duoc d
min cao, tt cho vic diu khin hon.
Thit lp ch d Fast PWM cho Timer/Counter voi CodeWizardAVR:

Hnh B.9 Thit lp Timer to PWM dng CodeWizardAVR
- chon ch d Fast PWM topICR1, tn s xung clock 2.0MHz.
- Cac ng ra ABC dt non-inverted, cac thit lp khac (capture, compare) gi nguyn.
- D tao xung 20ms (50Hz), dt gia tri thanh ghi ICRn=39999.
- Khi do, cac thanh ghi OCRnX se thay di gia tri trong khoang tu 2000 dn 4000 d
co d rng xung 1.0ms dn 2.0ms cho vic diu khin dng co.