| Summary: | 碩士 === 中華科技大學 === 電子工程研究所碩士班 === 106 === The purpose of this paper is to establish a simulation platform in the lab for
six-rotary, aircraft built by six-rotor frame (DJI-F550) and propulsion system
consisting of a brushless DC motor (DJI-2312E), an electronic governor
(DJI-420LITE), and propellers (DJI-Z-BLADE 9450). The core chip (AT90CAN128)
produced by ATmel was set in the self-made flight controller, which used six
pulse-width modulations (PWM) to control the electronic governor and drove the
brushless DC motor that rotated six-axis propellers. By the different speeds of
propellers, we could maneuver the aircraft. The keyboard controller was designed
using micro-controller ATMega168 from Atmel, has nine buttons on it. The buttons
can control the aircraft to unlock, up and down, lift tilt, right tilt, forward, backward,
roll, pitch, yaw and other functions, which are transmitted to the core chip
AT90CAN128 by wireless module XBee S2C to drive the six propulsions to
maneuver the flight controller. In addition to making a flight control panel and a
remote control keyboard, we used a three-axis accelerometer as a sensor component
that could support stable and balanced algorithm. This could solve the key technology
of the six-propeller aircraft rising and suspending. In order to get better understanding
about the the six-rotor’s characteristics, we used translation and rotation motion
programs to verify the rotational speeds of the six brushless DC motors that made the
aircraft have different motion effects. The detail theoretical analysis helped design the
six-rotor. In the aircraft, the core chip sent six PWM signals to the six-rotor to
operate its attitude and translation and transmitted the commands from the keyboard
to PC computer through RS232 serial communication. We used MATLAB toolbox
to set up a computer screen simulation window to show the flying state and the speeds
of the six propellers and used computer animation to show the six-rotor rolling,
pitching, yawing and so on in the three-dimensional space to get the actual effects of
simulation platform.
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