DIY四轴飞行器讲课讲稿

1、Good is good, but better carries it.精益求精，善益求善。DIY四轴飞行器本人是航模菜鸟，大概是去年11月份，迷上了四轴飞行器，经常上MK的网站看飞行录相，四轴飞行起来稳定性真好，简直是酷毙了。最终没能抵制住诱惑，冲动之下决定自已也做个来玩玩。从网上收集资料，一切从0起步。经历了几个月的走走停停，现在已陆续完成了无刷电调、四轴机架、HYPERLINK/bbs/forum.php?mod=forumdisplay&fid=29t_blank遥控器多通道改造、IMU模块、飞控板设计制作。现小有成果，公布出来和大家交流交流，以资进步:em05:由于水平所限，本人只熟

2、悉和使用51架构的MCU，系统的所有模块都是架构在C8051F的基础上。但四轴所涉及的原理、控制理论都是一样的原理，希望各位同好网友不吝赐教，多多指导，谢谢！本帖最后由hn_ny_dxs于2009-7-1617:19编辑HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTU3fDliM2MxM2M5fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank1.从旧货摊买的两个硬盘.JPG(94.34KB,下载次数:959)HYPERLINK/bbs/forum.php?mod=attachment&aid=M

3、TY5NTU4fGE4MTY0YjZkfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank2.费了九牛二虎之力，最后改造一个拆手机用的起子，搞定了.JPG(91.37KB,下载次数:741)HYPERLINKjavascript:;举报HYPERLINK/bbs/forum.php?mod=redirect&goto=findpost&ptid=312846&pid=4021896o您的朋友访问此链接后，您将获得相应的积分奖励沙发发表于2009-7-1300:10:05|HYPERLINK/bbs/forum.php?mod=viewthread&

4、tid=312846&page=1&authorid=110942只看该作者先贴两个图试试能否成功:em15:，下面接着来。机架打算用现有的电直尾管和管座配上硬盘片构成，电机用新西达2212KV930，两正两反的桨用口碑不错的德国EPP1045。HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTU5fDExNDZiNjExfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank4.固定电直尾管的座子，好贵呀.JPG(103.48KB,下载次数:421)HYPERLINK/bbs/forum.php?mod

5、=attachment&aid=MTY5NTYwfGRlMDQyNTI1fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank4.固定电直尾管的座子，好贵呀.JPG(103.48KB,下载次数:296)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTYxfGI3MTNkMTdhfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank5.和到手的电机、尾管合张照.JPG(96.75KB,下载次数:257)HYPERLINK/bbs/forum.php?mod=a

6、ttachment&aid=MTY5NTYyfDM0ZmYwNjhifDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank6.外加工的4个电机安装座.JPG(73.54KB,下载次数:224)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTYzfDQwMjVhOGFhfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank7.机体主要部分完成.JPG(99.46KB,下载次数:235)HYPERLINK/bbs/forum.php?mod=attachment

7、&aid=MTY5NTY0fGIxNGU1NjI5fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank8.加工机架的得力工具：），桌面微型台钻.jpg(68.77KB,下载次数:270)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTY1fGMxZjAyMmE0fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank9.EPP1045.JPG(54.61KB,下载次数:204)HYPERLINK/bbs/forum.php?mod=attachment&ai

8、d=MTY5NTY2fDYyYmQ3NTk0fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank10.一正一反.JPG(41.86KB,下载次数:160)HYPERLINKjavascript:;举报HYPERLINK/bbs/forum.php?mod=redirect&goto=findpost&ptid=312846&pid=4021909o您的朋友访问此链接后，您将获得相应的积分奖励3楼发表于2009-7-1300:13:22|HYPERLINK/bbs/forum.php?mod=viewthread&tid=312846&page=1&

9、authorid=110942只看该作者为提高发帖效率，制作过程从略，一切用图片说话:em15:HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTcwfGM4ZmI1MzMwfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank11.和市场上3块钱一个的正桨对比.JPG(43.58KB,下载次数:210)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTcxfDgzNjdlMGFjfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb

10、=yest_blank12.用电机原配的桨保护器固定两叶桨.JPG(54.11KB,下载次数:204)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTcyfGNhOGE5YTFhfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank13.焊上香蕉头，感觉重量不小，拆除前留个影.JPG(102.04KB,下载次数:207)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTczfDM5M2NhODdmfDEzODI5MzYxMTB8MHwzMTI4NDY%3

11、D¬humb=yest_blank14.电机安装固定方式.JPG(61.69KB,下载次数:191)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTc0fDk4NGU4YTA2fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank15.机架整体结构.JPG(87.7KB,下载次数:194)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTc1fGMwMGZiNTk0fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yes

12、t_blank16.平视角度，很有型吧：）.JPG(88.34KB,下载次数:165)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTc2fGZmZjFhMzg0fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank17.整机完成效果图.JPG(77.59KB,下载次数:227)HYPERLINK/bbs/forum.php?mod=viewthread&tid=687237&extra=t_blank【论坛支持大图片上传，从此不再需要缩小图片！】HYPERLINKjavascript:;举报HYPE

13、RLINK/bbs/home.php?mod=space&uid=110942t_blankhn_ny_dxsHYPERLINK/bbs/home.php?mod=spacecp&ac=usergroup&gid=9t_blank上士注册时间2009-1-27精华2主题HYPERLINK/bbs/home.php?mod=space&uid=110942&do=thread&type=thread&view=me&from=spacet_blank0HYPERLINK/bbs/home.php?mod=space&uid=110942o串个门t_blank串个门HYPERLINK/bbs/ho

14、me.php?mod=spacecp&ac=friend&op=add&uid=110942&handlekey=addfriendhk_110942o加好友加好友HYPERLINK/bbs/home.php?mod=spacecp&ac=poke&op=send&uid=110942o打招呼打招呼HYPERLINK/bbs/home.php?mod=spacecp&ac=pm&op=showmsg&handlekey=showmsg_110942&touid=110942&pmid=0&daterange=2&pid=4021936&tid=312846o发消息发消息HYPERLINK/bb

15、s/forum.php?mod=redirect&goto=findpost&ptid=312846&pid=4021936o您的朋友访问此链接后，您将获得相应的积分奖励4楼发表于2009-7-1300:26:53|HYPERLINK/bbs/forum.php?mod=viewthread&tid=312846&page=1&authorid=110942只看该作者好了，机架完成了。接下来是遥控器的改造时间:em15:，买了个又便宜又大块的FT06-C，准备先把6通改到8通，增加两个比例通道，并且配上LCD液晶屏，用来显示控的相关参数。控的高频头还留用，PPM编码板整个换掉它。HYPERLI

16、NK/bbs/forum.php?mod=attachment&aid=MTY5NTg1fGM5ZGRmYjUxfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank18.准备拿来折腾的天地飞6C控.JPG(125.49KB,下载次数:227)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTg2fDc5MzVjNzgzfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank19.FT06-C内部结构.JPG(85.71KB,下载次数:178)HYPERLINK

17、/bbs/forum.php?mod=attachment&aid=MTY5NTg3fGQ0Nzk3ZmUwfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank20.在这个位置加个LCD屏.JPG(101.82KB,下载次数:173)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTg4fGYxYTc5ZTIxfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank21.打回来的样板，这样做省￥.JPG(133.46KB,下载次数:194)HYPERLINK/

18、bbs/forum.php?mod=attachment&aid=MTY5NTg5fDRiNDZhYTU3fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank22.为裁板专门买的勾刀.JPG(103.18KB,下载次数:140)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTkwfDUyYjMyOGI0fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank23.花了一个多小时时间，搞定！.JPG(129.54KB,下载次数:161)HYPERLINK/bb

19、s/forum.php?mod=attachment&aid=MTY5NTkxfDAzZWI0ZTM2fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank24.拆掉FT06-C控的原装PPM板.JPG(102.6KB,下载次数:164)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTkyfDQwZTM5ZjYzfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank25.比下位置，很正点：）.JPG(141.73KB,下载次数:162)HYPERLINK/b

20、bs/forum.php?mod=attachment&aid=MTY5NTkzfGYwMWJlMzc4fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank26.FT06-C的这个位置，刚好能放进一个5110屏.JPG(102.42KB,下载次数:162)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTk0fDQzMDNlYWNifDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank27.液晶屏的PCB板.JPG(100.16KB,下载次数:151)HYP

21、ERLINK/bbs/forum.php?mod=attachment&aid=MTY5NTk1fGQwZmUxYjc5fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank28.预期效果.JPG(93.3KB,下载次数:160)HYPERLINKjavascript:;举报HYPERLINK/bbs/home.php?mod=space&uid=110942t_blankhn_ny_dxsHYPERLINK/bbs/home.php?mod=spacecp&ac=usergroup&gid=9t_blank上士注册时间2009-1-27精华2主题H

22、YPERLINK/bbs/home.php?mod=space&uid=110942&do=thread&type=thread&view=me&from=spacet_blank0HYPERLINK/bbs/home.php?mod=space&uid=110942o串个门t_blank串个门HYPERLINK/bbs/home.php?mod=spacecp&ac=friend&op=add&uid=110942&handlekey=addfriendhk_110942o加好友加好友HYPERLINK/bbs/home.php?mod=spacecp&ac=poke&op=send&uid

23、=110942o打招呼打招呼HYPERLINK/bbs/home.php?mod=spacecp&ac=pm&op=showmsg&handlekey=showmsg_110942&touid=110942&pmid=0&daterange=2&pid=4021951&tid=312846o发消息发消息HYPERLINK/bbs/forum.php?mod=redirect&goto=findpost&ptid=312846&pid=4021951o您的朋友访问此链接后，您将获得相应的积分奖励5楼发表于2009-7-1300:33:23|HYPERLINK/bbs/forum.php?mod=

24、viewthread&tid=312846&page=1&authorid=110942只看该作者继续上图HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjA1fDY3OGQ0MjNmfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank29.PPM控制板焊接完工.JPG(235.66KB,下载次数:180)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjA2fGNmZWI1YmVmfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬hu

25、mb=yest_blank30.看背面。底部电源走线，被工厂做板时移错了位置.JPG(232.34KB,下载次数:155)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjA3fDY4YzhkMTZmfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank31.新到手的5110LCD屏.JPG(91.74KB,下载次数:153)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjA4fGUyY2FiMDVlfDEzODI5MzYxMTB8MHwzMTI4NDY

26、%3D¬humb=yest_blank32.布线时未注意，搞反了液晶的方向：-（，还好飞线不多.JPG(95.22KB,下载次数:353)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjA5fGNmZDJlOWU2fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank33.液晶屏点亮成功.JPG(87.11KB,下载次数:151)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjEwfDI0YTdhMDVkfDEzODI5MzYxMTB8MHwzM

27、TI4NDY%3D¬humb=yest_blank34.效果怎样：）.JPG(112.34KB,下载次数:173)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjExfDE2ODc0NTRlfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank35.安装右边电位器.JPG(106.89KB,下载次数:144)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjEyfDNmN2YxNWRhfDEzODI5MzYxMTB8MHwzMTI4NDY%3D&n

28、othumb=yest_blank36.右边.JPG(132.62KB,下载次数:141)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjEzfGQzYjViMjE0fDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank37.安装左边电位器.JPG(116.31KB,下载次数:153)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjE0fGQwNjM2NmEwfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank38.左边.JPG(135.66KB,下载次数:160)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjE1fGZkMTAwODMyfDEzODI5MzYxMTB8MHwzMTI4NDY%3D¬humb=yest_blank39.液晶、电位器的连线.JPG(111.63KB,下载次数:157)HYPERLINK/bbs/forum.php?mod=attachment&aid=MTY5NjE2fGVlZTYxMDQwfDEzODI5MzYxMTB8MHw