H th ng i u khi n i n t 1 t ng quan B i u khi n i n t c n cho my bay ln th ng 4 cnh qu t ph i l b my tnh ton r t nhanh that would nh n t t c gi tr c a c m bi n , tnh ton s li u (data)chuy n ng ban

u v xu t 1 tn hi u ra thay i t c c a m i ng c ring bi t c c cc chuy n ng mong mu n . t c cc yu c u tnh ton , vi x l MSP430F149 c ch n N nhanh, c cc yu c u i n p th p v c khng gian m d r ng (dung l ng l n) 2 ch n l a pin xc nh pin j s l b t t nh t theo nhu c u c a chng ta (would best suite our needs) cho d n ny , chng ta ph i a nhi u y u t vo trong tnh ton. Nh ng th ny tnh n(these included), nh ng khng gi i h n t ng th i gian bay v dng t ng rt ra t b n ng c c a chng ta, B n ng c m chng ti s d ng trong d n ny l ng c MR-012-0304000( nh th y trong ph n ti p theo) t Medusa Research . M i ng c cn n ng kho ng 15 gram v c dng c c i b ng (a max current draw of) 6 ampe . Nhn b n , chng ta nh n c dng t ng(a total current draw of) b ng 24 ampe t b n ng c c a chng ta. c th i gian bay ng k trong khi h n ch t ng kh i l ng c a quadrotor n m c th p nh t, chng ta l a ch n b pin Thunder Power 3 pin 11.1 vn 2000 mAh t Dragonfly Innovations nh hnh d i y. xc nh t ng th i gian bay b n ph i chia cng su t ngu n i n c a pin b ng s ko dng c a b n ng c (divide the battery s power rating by the current draw of the four motors) v nhn v i su m i.

Hnh 13 pin lipo Dragonfly Innovations http://www.rctoys.com/rcproducts/TP-2000-3SPL.html 

 (6.1) Cng th c ny cho php chng ta xc nh th i gian bay t ng c a chng ta l g n 8 pht 34 giy.Pin chng ta ch n c 1 continuous current rating b ng 16 C. This current rating ny cho php chng ta xc nh the phng i n t i a rate c a pin. xc nh i u ny b n nhn the current rating v i the total power rating c a pin. h ( h) =    ( h) (6.2) The maximum discharge rate of the battery is 3200 mAh. However, since we are drawing only 1400 mAh, we are within the limits of our battery s specifications. Figure 20 is a manufacturer s diagram of what the discharge curve would be for our battery.

Hnh 3.14

ng cong x i n pack pin (Battery Pack Discharge Curve) www.rchobbies.org/lithium_battery_breakthrough.htm

6.3 b i u khi n ng c v t c Cc ng c dc khng ch i qut Medusa Research MR-012-030-4000 c ch n cho quadrotor , chng c l a ch n v gi c , cng su t i n(power output), v cn n ng c a chng, S d ng ng c ny v i cnh qu t APC ni trn t o ra l c y kho ng 1,95 N, th c xem xt nhi u tr ng l ng ho t ng c a my bay ln th ng l 4.22 N (which is plenty ng c c considering an operating weight of the helicopter to be 4.22N). dng c c i kho ng 6A, v at hovering thrust the total current draw should be 14A with a maximum draw kho ng 24A ng c dc khng c ch i qut, ngh a l c n ph i c 1 b i u khi n t c i n t (ESC) i u khi n ng c , trong khi v i ng c c ch i qut ,hi u i n th Dc bi n i dng i u ch nh t c . B i u khi n t c c dng trong Phoenix-10 t Castle Creations. y l thi t b r t ph c

t p m n c th th c hi n nhi u ch c n ng ngoi thay i l c y. ESC nh n tn hi u i u bi n r ng xung( Pulse-Width Modulated ( PWM ) )50 Hz t b i u khi n v b ng thay i r ng xung t 1ms t i 2 ms xc nh RPM (hnh nh l round per minute) ng c . ESC c ba u ra, a vo m i c c trong ng c . N b n m i c c theo trnh t khi nam chm quay quanh ph n ng , chi u di c c " ho t ng " xc nh RPM c a ng c \ 6.4 cc c m bi n Thi t b o kho ng cch h ng ngo i c kho ng lm vi c t 10 cm n 80 cm v i chnh xc kho ng c + / -.3 mm. u ra t ng t c a c m bi n l hm phi tuy n m h u nh c tuy n tnh ho h u ch trong h th ng i u khi n . C m nang s d ng ngh 1 cch dung = 1/( + ) (6.3) y V l i n p, R l kho ng cch b ng mt v k l h ng s hi u ch nh m theo Sharp nn kho ng 0.42. D li u th nghi m cho th y con s ny khng c chnh xc, v 1 hm tuy n tnh ho c t o ra d i d ng y = mx + b, y y = V. tm h ng s , cc gi tr khc nhau c a k cg n vo trong Excel v ng cong h i quy tuy n tnh c v ln. Gi tr c a k v i cc y u t lin h l n nh t R ^ 2 c s d ng, v h ng s m v b c l y ra t ph ng trnh h i quy. ph ng trnh gi i h n cu i cng ( v tr z ) l : = 1/( .7569 + .3371) .25 (6.4)