搜索 - 科创网

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内容：大学本科毕业设计接触四旋翼的制作，当时接触不深，从一个开源的四旋翼项目入手，做了个F450的四旋翼，效果马马虎虎。,一、为了避免危险性以及增加可玩性，同时降低成本，选择制作比较小的四旋翼，暂定轴距在20cm左右。,二、新四旋翼应完成这些功能。,未来可提升：为四旋翼安装摄像头，在PC或者手机端运行 ROS 系统，对摄像头以及飞行器进行完整控制。

首先在这里非常抱歉没有按照当时给出的时间安排完成该项目，对于个人的懒惰实在是该认真反省反省。概况：该项目是为研究四轴飞行器控制算法、制作、通信等方向提出的一开源项目，飞行器是基于STC8G2K64S4单片机作为主控对无人机进行控制，在无人机制作出雏形时存在1S锂电池与1020空心杯的输出能力无法支持无人机飞行的情况，于是在改进版本中改用了2S锂电池供电的方案，在电压改变的情况下较大幅度地修...

内容：其次，微型四旋翼无人飞行器是一个具有六个自由度，而只有四个控制输入的欠驱动系统。,这三个问题解决成功与否，是实现微型四旋翼无人飞行器自主飞行控制的关键，具有非常重要的研究价值。,；反之，同时减小四个电机的输出功率，四旋翼飞行器则垂直下降，直至平衡落地，实现了沿z轴的垂直运动。,偏航运动——四旋翼飞行器偏航运动可以借助旋翼产生的反扭矩来实现。,反扭矩的大小与旋翼转速有关，当四个电机转速相同时，四个旋翼产生的反扭矩相互平衡，四旋翼飞行器不发生转动；当四个电机转速不完全相同时，不平衡的反扭矩会引起四旋翼飞行器转动。

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