多旋翼无人机的设计与制作

章无人机简介 ...................................................................................... 1 1.1 航空模型的历史 ............................................................................................................ 1 1.2 无人机与航模的区别 .................................................................................................... 3 1.3 无人机的分类 ................................................................................................................ 4 1.4 无人机的使用安全 ........................................................................................................ 5 复习与思考............................................................................................................................. 7 第2 章多旋翼无人机机架设计 .................................................................... 8 2.1 初识SOLIDWORKS .................................................................................................... 9 2.1.1 SOLIDWORKS 基本操作 .................................................................................. 9 2.1.2 SOLIDWORKS 用户界面 ................................................................................ 11 2.2 机臂设计 ...................................................................................................................... 15 2.3 管夹设计 ...................................................................................................................... 17 2.4 电机设计 ...................................................................................................................... 22 2.5 电机座设计 .................................................................................................................. 28 2.6 GPS 支架设计 ............................................................................................................. 29 2.7 中心板及挂载板设计 .................................................................................................. 34 2.8 脚架设计 ...................................................................................................................... 37 2.9 桨叶设计 ...................................................................................................................... 40 2.10 总体装配 .................................................................................................................... 45 复习与思考........................................................................................................................... 51 ― vi ― 第3 章多旋翼无人机机架生产与加工 ........................................................ 52 3.1 初识NcStudio .............................................................................................................. 52 3.2 NcStudio 基本操作 ...................................................................................................... 52 3.3 碳纤维板加工 .............................................................................................................. 66 3.4 初识Cura ..................................................................................................................... 74 3.4.1 Cura 首次启动设置向导 .................................................................................. 74 3.4.2 模型的载入和查看 ........................................................................................... 76 3.4.3 模型的调整 ....................................................................................................... 81 3.4.4 基础切片设置 ................................................................................................... 84 3.4.5 不错切片设置 ................................................................................................... 86 3.4.6 输出Gcode 文件 .............................................................................................. 87 3.4.7 结束语 ............................................................................................................... 88 3.5 3D 打印机的基本应用 ................................................................................................ 88 3.5.1 连接打印机 ....................................................................................................... 88 3.5.2 手动控制打印机 ............................................................................................... 90 3.5.3 上传、下载Gcode 文件 .................................................................................. 91 3.5.4 打印Gcode 文件 .............................................................................................. 91 3.6 脚架等辅助部件的加工 .............................................................................................. 91 复习与思考........................................................................................................................... 95 第4 章多旋翼无人机电气控制系统的设计 ................................................ 96 4.1 无刷电机 ...................................................................................................................... 96 4.2 电子调速器 .................................................................................................................. 97 4.3 舵机 ............................................................................................................................. 98 4.4 航空电池 .................................................................................................................... 101 4.5 平衡充电器 ................................................................................................................ 103 4.6 无线电遥控 ................................................................................................................ 104 4.7 飞行控制系统 ............................................................................................................ 106 复习与思考......................................................................................................................... 107 ― vii ― 第5 章多旋翼无人机开源控制系统的应用 .............................................. 108 5.1 初识Pixhawk ............................................................................................................. 108 5.2 固件的更新与刷写 .................................................................................................... 112 5.3 机架类型设置 ............................................................................................................ 117 5.4 初始化校准 ................................................................................................................ 118 5.5 试解锁检查 ................................................................................................................ 129 5.6 电调校准 .................................................................................................................... 131 5.7 飞行模式设置 ............................................................................................................ 132 5.8 电流计的使用 ............................................................................................................ 140 5.9 GPS 的使用 ............................................................................................................... 141 5.10 数传和OSD ............................................................................................................. 142 5.11 自动调参 .................................................................................................................. 145 5.12 自动微调和手动微调 .............................................................................................. 147 复习与思考......................................................................................................................... 147 第6 章多旋翼无人机飞行 ....................................................................... 149 6.1 起飞与降落练习 ........................................................................................................ 149 6.2 升降练习 .................................................................................................................... 150 6.2.1 上升练习 ......................................................................................................... 150 6.2.2 下降练习 ......................................................................................................... 150 6.3 俯仰练习 .................................................................................................................... 150 6.3.1 俯冲练习 ......................................................................................................... 151 6.3.2 上仰练习 ......................................................................................................... 151 6.4 偏航练习 .................................................................................................................... 151 6.4.1 左偏航练习 ..................................................................................................... 151 6.4.2 右偏航练习 ..................................................................................................... 152 6.5 手动飞行 .................................................................................................................... 152 6.5.1 直线飞行 ......................................................................................................... 152 6.5.2 曲线飞行 ......................................................................................................... 152 6.6 自动飞行 .................................................................................................................... 153 ― viii ― 6.6.1 TAKEOFF 起飞 .............................................................................................. 154 6.6.2 WAYPOINT 航点 ........................................................................................... 154 6.6.3 SPLINE WAYPOINT 曲线航点 ..................................................................... 155 6.6.4 LOITER_TIME 定点延时 .............................................................................. 156 6.6.5 LOITER_TURNS 定点绕圈 .......................................................................... 156 6.6.6 LOITER_UNLIMITED 等待处理 ................................................................. 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 兴趣热点 ..................................................................................... 157 6.6.10 CONDITION-DELAY 条件延迟 ................................................................. 158 6.6.11 CONDITION-DISTANCE 条件距离 ........................................................... 159 6.6.12 CONDITION-YAW 条件指向 ..................................................................... 159 6.6.13 DO-JUMP 执行跳转 .................................................................................... 159 6.6.14 DO-CHANGE-SPEED 变更速度................................................................. 160 6.6.15 DO-SET-CAM-TRIGG-DIST 距离快门 ...................................................... 160 6.6.16 DO-SET-RELAY 继电器 .............................................................................. 160 6.6.17 DO-REPEAT-RELAY 重复继电器 .............................................................. 161 6.6.18 DO-SET-SERVO 舵机 .................................................................................. 161 6.6.19 DO-REPEAT-SERVO 重复舵机 .................................................................. 161 6.6.20 DO-DIGICAM-CONTROL 快门控制 ......................................................... 162 复习与思考......................................................................................................................... 162 附录A Pixhawk 标准参数 ........................................................................ 163 附录B 硅胶线参数 ................................................................................... 169 附录C 常用接口参数 ............................................................................... 170 附录D 常用电机参数 ............................................................................... 171 附录E Pixraptor 引脚接线定义 ................................................................ 172