臺灣博碩士論文加值系統

在過去十年中，電子領域向前邁出了一大步。目前的最新科技為四旋翼飛行器與無人機，它們無需使用電子裝置來控制其系統。如今四軸飛行器與無人機在市場上非常的受歡迎。然而這些商用無人機無法自行升級和修改系統。在本篇論文中，四旋翼飛行器是使用較低成本的感測器與其他零件所設計而成的。
在本篇論文中，我們使用STM32F103C8T6作為主要控制四軸飛行器的主要系統，其餘的零件為MPU6050，HMC5883L及帶有MS5611感測器的GPS Ublox-M8N-001用於保持水平、高度和GPS。STM32F103C8T6微控制器與其他感測器除了花費成本較低之外，在程式編譯上也比其他的控制器來的簡單。四旋翼飛行器的最終原型適用於額外的試驗工作。另一方面四旋翼飛行器的組裝和設置也已完成對飛行應用進行測試。

Quadcopters and drones are a very recent technology because, until recently, there was no electronics necessary to implement systems to control them. However, over the past 10 years, the field of electronics has taken a big step forward. Now quadcopters and drones are very popular on the market. However, these commercial drones cannot be upgraded and modified. In this paper, a quadcopter was designed using low-cost sensors and other components.
In this project, we used STM32F103C8T6 microcontroller as the main controller of quadcopter. The MPU6050, HMC5883L, GPS Ublox-M8N-001 with MS5611 sensors were used for self-level, altitude hold and GPS hold. The STM32F103C8T6 microcontroller and sensors are not only low-cost, and easy to program. The final prototype of quadcopter is suitable for additional experimental work and on the other hand, the assembly and set-up of a quadcopter was also done, in order to carry out in-flight tests of the application.

CHINESE ABSTRACT I
ABSTRACT II
ACKNOWLEDGMENTS III
TABLE OF CONTENT IV
LIST OF FIGURES VI
LIST OF TABLE VIII
TERM AND SYNOPSIS IX
CHAPTER 1: INTRODUCTION 1
1.1 MOTIVATION 1
1.2 BRIEF HISTORY 2
1.3 CONTRIBUTION 2
1.4 GOALS 3
1.5 STRUCTURE OF THE PROJECT 4
CHAPTER 2: THEORY AND CONTROLS 5
2.1 MANEUVERABILITY 5
2.2 PID CONTROL 7
2.3 SIX DEGREES OF FREEDOM 7
CHAPTER 3: COMPONENTS FOR QUADCOPTER 9
3.1 COMPONENTS 9
3.2 QUADCOPTER FRAME 10
3.3 STM32F103C8T6 MICROCONTROLLER BOARD 10
3.4 BLDC MOTORS 11
3.5 PROPELLERS 12
3.6 ELECTRONIC SPEED CONTROLLERS (ESC) 13
3.7 BATTERY 13
3.8 TRANSMITTER AND RECEIVER 14
3.9 APC220 WIRELESS COMMUNICATION MODULE 14
3.10 SENSORS 15
3.10.1 MPU6050 SENSOR 16
3.10.2 MS5611 BAROMETER SENSOR 16
3.10.3 HMC5883L SENSOR WITH GPS 17
3.11 TELEMETRY MODULE 18
CHAPTER 4: BUILDING THE QUADCOPTER 19
4.1 READING OF THE SENSORS 23
4.2 TESTING QUADCOPTER COMPONENTS 23
4.3 THE ESC CALIBRATION 29
4.4 SELF-LEVELING FOR QUADCOPTER 29
4.5 ALTITIDE HOLD FOR MS5611 BAROMETER SENSOR 35
4.6 DIRECTION USING HMC5883L COMPASS SENSOR 37
4.7 THE GPS HOLD FUNCTION 40
4.8 RETURN HOME AND FAIL-SAFE 43
4.9 TRANSMITTER AND RECEIVER CHANNELS ROLE 45
4.10 PID CONTROL 46
4.11 TELEMETRY MODULE 48
CHAPTER 5: RESULT OF THE MADE QUADCOPTER 50
5.1 SELF-LEVEL TEST INDOOR AND OUTDOOR 50
5.2 ALTITUDE HOLD TEST 51
5.3 GPS POSITION HOLD AND RETURN HOME TEST 52
5.4 PRICE COMPARISION 53
5.5 COMPONENTS CONNECTION 54
CHAPTER 6: CONCLUTION AND FUTURE WORK 55
6.1 CONCLUTION 55
6.2 FUTURE WORK 55
REFERENCES 56

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