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  • 四軸飛行器 專題報告

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    四軸飛行器_專題報告

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    1K views10 pages

    四軸飛行器 專題報告

    Uploaded by

    Nathan Imig

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 10

    101

    ()(9812115)

    PID

    PID

    1
    (Micro Electro Mechanical
    SystemsMEMS)

    (University of Pennsylvania) GRASP (The


    General Robotics, Automation, Sensing and Perception)

    [1]

    2
    2.1

    ()
    ()

    2.1.1

    450mm

    2.1.2

    1045 ( 10cm, 45)

    2.1.3

    (
    )

    980KV (980RPM/V)

    2.1.4

    PWM 40A

    2.1.7

    2.1.5
    11.1V
    2200mAh ( 25C, 35C)

    STM32F407VGT
    ARM 32bit Cortex-M4 CPU with FPU
    Frequency up to 168MHz
    196Kbytes SRAM1024bytes Flash
    nRF24L01+PA+LNA
    SPI ( Max 10MHz )

    520m(2Mbps)/750m(1Mbps)/1000m (250Kbps)
    4.3 TFT
    SSD1963
    480*272
    16-bit( RGB 565 )

    2.1.6

    STM32F405RGT
    ARM 32bit Cortex-M4 CPU with FPU
    Frequency up to 168MHz
    196Kbytes SRAM1024bytes Flash
    nRF24L01+PA+LNA
    SPI ( Max 10MHz )

    520m(2Mbps)/750m(1Mbps)/1000m (250Kbps)

    2.2

    L3G4200D
    I2C ( Max 400KHz )
    250/500/2000 dps
    + LSM303DLM
    I2C ( Max 400KHz )
    2/4/8 g
    1.3/1.9/2.5/4.0/4.7/5.6/8.1 gauss

    3.1

    PWM

    3.1.1(MCU)
    (ST) 32
    STM32F405RG [2] CPU ARM
    Cortex-M4 210 DMIPS
    168MHz196Kbytes SRAM1byte Flash
    (FPU)DSP USBSDIO
    USARTSPII2C
    1 SPI 1
    I2C 4 PWM 4

    3.1.2

    (IMU)

    I2C
    I2C

    I2C

    ST L3G4200(3 )[3]
    LSM303D(3 +3 )[4] 9
    (DOF) IMU
    L3G4200 LSM303D 16
    I2C 400kHz

    3.1.3

    NORDIC
    2.4G nRF24L01P[5](PA)
    (LNA)nRF24L01P
    2Mbps1Mbps250Kbps
    520m750m1000m

    3.1.4

    11.1v
    2200mAh 11.1v
    LM2596 5v AMS1117 3.3v
    11.1v 5v
    3.3v

    400Hz

    (mgdpsgauss)
    PID

    3.2

    I/O

    (FSM)

    4.1

    MEMS

    4.1.1

    g(0, 0, 1)

    4.1.2

    100

    4.1.3

    37

    X Y

    45 8
    [6]

    4.2

    90 270
    (Gimbal lock)
    [7]
    (Complementary
    Filter)

    4.2.1


    ,
    ,

    E b

    4.2.2

    ()

    RungeKutta

    4.2.3

    4.3

    PID PID

    PID
    PID
    PID

    PID

    PID

    400Hz
    0.2
    5 PID

    0.2

    (mg) XY
    0.3g Z 0.2g

    (10mdps) X
    40dps Y 100dps Z
    10dps

    (0.1mGauss)
    X
    20mGaussY 60mGauss Z
    70mGauss

    (XY 10mdegZ 100mdeg)


    X 4deg Y 2deg
    Z 10deg

    PD
    < 0

    [1] Wiki_
    http://zh.wikipedia.org/wiki/%E5%A4%9A%E8%BB%B8
    %E9%A3%9B%E8%A1%8C%E5%99%A8
    [2] STM32F405RGT datasheet
    http://www.st.com/web/catalog/mmc/FM141/SC1169/SS15
    77/LN1035/PF252144
    [3] L3G4200 datasheet
    http://www.st.com/web/catalog/sense_power/FM89/SC1288
    /PF250373?s_searchtype=partnumber
    [4] LSM303D datasheet
    http://www.st.com/web/catalog/sense_power/FM89/SC1449
    /PF251902?s_searchtype=partnumber
    [5] nRF24L01P datasheet
    http://www.nordicsemi.com/eng/Products/2.4GHzRF/nRF24L01P
    [6] , , , 2007
    [7] , Inertial Technology,
    , 2011

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