多旋翼無人機的設計與製作

第1 章 無人機簡介 ...................................................................................... 1
1.1 航空模型的歷史 ............................................................................................................ 1
1.2 無人機與航模的區別 .................................................................................................... 3
1.3 無人機的分類 ................................................................................................................ 4
1.4 無人機的使用安全 ........................................................................................................ 5
復習與思考............................................................................................................................. 7
第2 章 多旋翼無人機機架設計 .................................................................... 8
2.1 初識SOLIDWORKS .................................................................................................... 9
2.1.1 SOLIDWORKS 基本操作 .................................................................................. 9
2.1.2 SOLIDWORKS 用戶界面 ................................................................................ 11
2.2 機臂設計 ...................................................................................................................... 15
2.3 管夾設計 ...................................................................................................................... 17
2.4 電機設計 ...................................................................................................................... 22
2.5 電機座設計 .................................................................................................................. 28
2.6 GPS 支架設計 ............................................................................................................. 29
2.7 中心板及掛載板設計 .................................................................................................. 34
2.8 腳架設計 ...................................................................................................................... 37
2.9 槳葉設計 ...................................................................................................................... 40
2.10 總體裝配 .................................................................................................................... 45
復習與思考........................................................................................................................... 51
— vi —
第3 章 多旋翼無人機機架生產與加工 ........................................................ 52
3.1 初識NcStudio .............................................................................................................. 52
3.2 NcStudio 基本操作 ...................................................................................................... 52
3.3 碳纖維板加工 .............................................................................................................. 66
3.4 初識Cura ..................................................................................................................... 74
3.4.1 Cura 首次啟動設置向導 .................................................................................. 74
3.4.2 模型的加載和查看 ........................................................................................... 76
3.4.3 模型的調整 ....................................................................................................... 81
3.4.4 基礎切片設置 ................................................................................................... 84
3.4.5 高級切片設置 ................................................................................................... 86
3.4.6 輸出Gcode 文件 .............................................................................................. 87
3.4.7 結束語 ............................................................................................................... 88
3.5 3D 打印機的基本應用 ................................................................................................ 88
3.5.1 連接打印機 ....................................................................................................... 88
3.5.2 手動控制打印機 ............................................................................................... 90
3.5.3 上傳、下載Gcode 文件 .................................................................................. 91
3.5.4 打印Gcode 文件 .............................................................................................. 91
3.6 腳架等輔助部件的加工 .............................................................................................. 91
復習與思考........................................................................................................................... 95
第4 章 多旋翼無人機電氣控制系統的設計 ................................................ 96
4.1 無刷電機 ...................................................................................................................... 96
4.2 電子調速器 .................................................................................................................. 97
4.3 舵機 ............................................................................................................................. 98
4.4 航空電池 .................................................................................................................... 101
4.5 平衡充電器 ................................................................................................................ 103
4.6 無線電遙控 ................................................................................................................ 104
4.7 飛行控制系統 ............................................................................................................ 106
復習與思考......................................................................................................................... 107
— vii —
第5 章 多旋翼無人機開源控制系統的應用 .............................................. 108
5.1 初識Pixhawk ............................................................................................................. 108
5.2 固件的更新與刷寫 .................................................................................................... 112
5.3 機架類型設置 ............................................................................................................ 117
5.4 初始化校準 ................................................................................................................ 118
5.5 試解鎖檢查 ................................................................................................................ 129
5.6 電調校準 .................................................................................................................... 131
5.7 飛行模式設置 ............................................................................................................ 132
5.8 電流計的使用 ............................................................................................................ 140
5.9 GPS 的使用 ............................................................................................................... 141
5.10 數傳和OSD ............................................................................................................. 142
5.11 自動調參 .................................................................................................................. 145
5.12 自動微調和手動微調 .............................................................................................. 147
復習與思考......................................................................................................................... 147
第6 章 多旋翼無人機飛行 ....................................................................... 149
6.1 起飛與降落練習 ........................................................................................................ 149
6.2 升降練習 .................................................................................................................... 150
6.2.1 上升練習 ......................................................................................................... 150
6.2.2 下降練習 ......................................................................................................... 150
6.3 俯仰練習 .................................................................................................................... 150
6.3.1 俯沖練習 ......................................................................................................... 151
6.3.2 上仰練習 ......................................................................................................... 151
6.4 偏航練習 .................................................................................................................... 151
6.4.1 左偏航練習 ..................................................................................................... 151
6.4.2 右偏航練習 ..................................................................................................... 152
6.5 手動飛行 .................................................................................................................... 152
6.5.1 直線飛行 ......................................................................................................... 152
6.5.2 曲線飛行 ......................................................................................................... 152
6.6 自動飛行 .................................................................................................................... 153
— viii —
6.6.1 TAKEOFF 起飛 .............................................................................................. 154
6.6.2 WAYPOINT 航點 ........................................................................................... 154
6.6.3 SPLINE WAYPOINT 曲線航點 ..................................................................... 155
6.6.4 LOITER_TIME 定點延時 .............................................................................. 156
6.6.5 LOITER_TURNS 定點繞圈 .......................................................................... 156
6.6.6 LOITER_UNLIMITED 等待處理 ................................................................. 156
6.6.7 RETURN-TO-LAUNCH 自返 ....................................................................... 157
6.6.8 LAND 自主降落 ............................................................................................. 157
6.6.9 Do-Set-Roi 興趣熱點 ..................................................................................... 157
6.6.10 CONDITION-DELAY 條件延遲 ................................................................. 158
6.6.11 CONDITION-DISTANCE 條件距離 ........................................................... 159
6.6.12 CONDITION-YAW 條件指向 ..................................................................... 159
6.6.13 DO-JUMP 執行跳轉 .................................................................................... 159
6.6.14 DO-CHANGE-SPEED 變更速度................................................................. 160
6.6.15 DO-SET-CAM-TRIGG-DIST 距離快門 ...................................................... 160
6.6.16 DO-SET-RELAY 繼電器 .............................................................................. 160
6.6.17 DO-REPEAT-RELAY 重復繼電器 .............................................................. 161
6.6.18 DO-SET-SERVO 舵機 .................................................................................. 161
6.6.19 DO-REPEAT-SERVO 重復舵機 .................................................................. 161
6.6.20 DO-DIGICAM-CONTROL 快門控制 ......................................................... 162
復習與思考......................................................................................................................... 162
附錄A Pixhawk 標準參數 ........................................................................ 163
附錄B 矽膠線參數 ................................................................................... 169
附錄C 常用接口參數 ............................................................................... 170
附錄D 常用電機參數 ............................................................................... 171
附錄E Pixraptor 引腳接線定義 ................................................................ 172