Teach you to create a four-axis aircraft from scratch

Source: Internet
Author: User
Tags apc apm

Model aircraft non-toys, please abide by the laws and regulations and the Forum four proverbs! Safe Flight! *read different tutorial posts to get started faster* Play the model needs a calm heart , please do not read the hundreds of-page instruction manual or even the preparation of self-study foreign language, if you can not calm down to read, pondering, research, then the model of this hobby is not for you  Posting is not easy, the top sticker easily, and look and cherish 8.17 Update: 3 Floor, what is the angle of entering?  1.if you want to enjoy the fun of flying, do not want to be installed, repair machine torture, and have a certain economic conditions, then the DJI Wizard is your choice. If you want to experience the double fun of flying and hands-on, or RMB is a problem, then do it yourself! 2. Use the Forum search function more than 3. In a word, saving money is expensive. Start with a picture that I took with the latest hand of the most cock wire configuration.equipment does not have to be more tall on, excellence is the kingly(This is the dark of Shijiazhuang Oh ~) <ignore_js_op>
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   ,     basic 1.   Theoretical Foundation first of all, you have to understand what you're going to do-the four-axis aircraft works. Four-axis aircraft is roughly composed of the following parts (recommended to Baidu Encyclopedia search for more detailed explanation) ①   frame: aircraft skeleton, carrying a variety of equipment ②   flight control: The brain of the aircraft, carrying accelerometers, gyroscopes, barometer, compass and other sensors. It controls the speed of the four motors and then controls the attitude of the aircraft. Or with GPS to complete fixed high-point homing and other functions. Its essence is monolithic microcomputer. Common flight control has xaircraft SuperX, DJI Naza  wkm  a2, zero-x4   Gemini, APM, MWC, QQ flight control, CC3D and other ③    ESC: The Universal electronic governor, its input is DC, usually by 2-6 lithium batteries to power. The output is three-phase AC and can drive the motor directly. In addition, the model brushless electronic governor also has three signal output lines for receiving receivers. The signal line can lead to a stable 5V voltage and can normally be powered by 2-4 servos. Aviation model is to adjust the aircraft's various flight posture and movements by remote control of the brushless electronic governor. ④   Brushless Motor: A rotating magnetic field is generated by a three-phase alternating current to drive the rotor rotation. It has the characteristics of wide speed regulation, small volume, high efficiency and low steady-state speed error. The brushless motor KV value is defined as the rotational speed of/V, which means that the input voltage is increased by 1 volts and the idling speed of the brushless motor increases. But for brushless motor does not just explain the motor speed and voltage into a strict linear proportional relationship, see Baidu Encyclopedia ⑤   Remote Control, receive: As the name implies   &NBSP;Q: What is the United States hand, Japanese hand?   a: The position of the throttle on the remote is the Japanese hand on the right and the American hand on the left. Personal recommended American hand, left hand control throttle and steering, right hand control aileron and pitch, more in line with the cognitive Law Q: What are the channels?    a: Channel is a remote control of the action, such as four-axis need to control the throttle, steering, pitch, roll four action, then you need a minimum four-channel remote control ⑥   Battery: Lithium, different from the common lithium battery, The biggest feature is the high discharge magnification        Q: What does the few s on the battery mean?        A: A few S is a series of several pieces, such as 3s2200mah is 3 pieces of 2200mAh battery series, rated powerPressure 11.1V, because the aircraft's power is large, so we need to increase the voltage to reduce the current heat loss (Q=I2RT). And because we use lithium batteries in series, so we need to balance the charger, referred to as balance charge. is in order to charge each piece of battery voltage to a level to prevent over-charging, lithium battery is very delicate, so we usually use the battery has a protective plate to prevent over-charging, but the general protection plate can not withstand such a large current, so in daily use must use balance charge.        Q: What does a few C on the battery mean? A: Discharge magnification. Refers to the current value required for the battery to emit its rated capacity within the specified time, which is equal to a multiple of the battery's rated capacity in the data value, usually denoted by the letter C. For example 3s2200mah 20C, then its maximum discharge current is the 2.2*20=44a⑦   charger: that is, the balance charge. Each piece of lithium battery can be charged to the same voltage. Some also have the function of discharging, measuring internal resistance, plotting discharge curve, and so on, how does the four-axis aircraft move? (Map with "Ten" mode for example, from Baidu Encyclopedia) figure (a), because there are two of the motor steering opposite, can be balanced against the fuselage of the reverse torque, when the increase in the output power of four motor, the rotor speed increase so that the total tensile strength, when the total tensile force to overcome the weight of the whole machine, the four-rotor aircraft will rise vertically from the ground; , while reducing the output power of four motors, the four-rotor aircraft descend vertically until the balance is reached, achieving vertical movement along the z-axis. When the lift generated by the rotor equals the weight of the aircraft, the aircraft remains hovering. The key to vertical motion is to ensure that the speed of four rotors is increased or decreased synchronously.
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In figure (b), the speed of the motor 1 increases, the motor 3 speed decreases, the motor 2, the motor 4 speed remains unchanged. In order not to cause the change of rotor speed, the overall torque and total pull of the four-rotor aircraft, the rotor 1 and the rotor 3 rotational speed change the size should be equal. Because of the lift of the rotor 1, the lift of the rotor 3 is reduced, the resulting unbalance torque to rotate the fuselage around the y-axis (direction), in the same way, when the motor 1 rpm, motor 3 of the speed rise, the fuselage will rotate around the y axis to another direction to achieve the aircraft's pitching movement. Roll in the same vein.
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The yaw motion of a four-rotor aircraft can be achieved by the reverse torque generated by the rotor. Rotor rotation process due to air resistance will be formed in reverse direction with the reverse torque, in order to overcome the impact of anti-torque, can make four rotor two positive rotation, two reversal, and the diagonal of the next year each rotor rotation direction is the same. The size of the counter-torque is related to the rotor speed, when the speed of the four motors at the same time, four rotors produced by the reciprocal torque balance, the four-rotor aircraft does not rotate; when the speed of the four motors is not exactly the same, the unbalanced counter-torque causes the four-rotor aircraft to rotate. In figure (d), when the speed of motor 1 and motor 3 increases, the motor 2 and motor 4 speed decreases, the rotor 1 and the rotor 3 to the fuselage of the reverse torque is greater than the rotor 2 and the rotor 4 to the fuselage of the reverse torque, the fuselage in the role of surplus counter torque around the z-axis rotation, to achieve the yaw movement of The motor 3 turns opposite.
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In order to realize the motion of the aircraft in the horizontal plane, it must exert some force on the aircraft in the horizontal plane. In the figure (e), increase the motor 3 rpm, so that the tension increases, correspondingly reduce the motor 1 rpm, so that the tensile force is reduced, while maintaining the other two motor speed unchanged, the reverse torque is still to maintain a balance. According to the theory of figure (b), the aircraft first has a certain degree of tilt, so that the rotor force to produce a horizontal component, so that the aircraft can achieve the forward-flying motion. Flying backwards is just the opposite of flying forward. Of course, in figure (b) Figure (c), the aircraft produces pitch, tumbling motion along with the horizontal movement of the x and Y axes.

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2. Tool base in order to reduce unnecessary costs, we recommend that you buy the following tools and consumables: soldering iron, stripping pliers, cutting line lead (ordinary pliers can't hold so thick silicone line), a set of hex, screwdriver set (domestic South flag, very cost-effective!) ), small Vice, parts box (I know TB has a very cheap need can pm me), horizontal bubble, heat shrink tube (4mm and 5mm with more, other see), BB Ring (Small things easy to lose buy a few bar ...) ) Welding method I put a video here,Suitable for weldingBeginner's starter, you can also cool search the welding tutorial. Because all four-axis aircraft are operating at high currents, reliable soldering is important 
Second, the equipment to buy most of the models do not have a local model shop, so TB is the main battlefield, it must not be cheap to the unknown shop to buy, buy counterfeit goods (motor ESC mostly), after all, the sky flying Things, Security most important This post recommends a set of configurations that are best for beginners 1. Flight control: QQ Flight control, there is self-stability, simple commissioning, cheap. or nazalite can be. Naza users notice, in the Assistant software to turn off the low-voltage protection, otherwise you will find the flight time greatly reduced, directly with BB ring set 3.6V alarm. If the novice can not skilled landing that set the 3.7V alarm, the alarm can support 2 minutes or so 2. Motor: 2212 KV980 recommended Sunnysky A2212 (with more people, cheaper, good after sale) Yinyan 2212 (new, Looks good). Come out to fly, always want to fry, do not buy too good, first with cheap equipment practice technology. But Xxd really does not recommend 3. ESC: If there is no plan to upgrade the large motor, good surplus Skywalker 20A is enough. You can also brush the Blheli firmware and finish the platinum explosion. If you want to one step can be in platinum 30A or Lotte (X-roter) bar. But not yet listed ... Not recommended four unity, the bad one can not be used 4. Paddle: 8 Yuan a pair of imitation APC1047, do their own balance. Or 1045 is OK. First Direct Buy at least 10 pairs, believe me, novice most prone to bad oars. Otherwise the postage is more expensive than the thing is not worth 5. Rack: can be used imitation F450, cheap, fried not distressed. Beginners do not have a tripod, easy to turn when landing. Or do their own, recommended aluminum square tube material, cheap and anti-blast light. can refer to my shelf 6. Remote control: Recommended one step, no money with Walkera D10 or heaven and earth fly 9. Have money to use Futuba. Do not want to one step words to fly 7, do not buy heaven and earth fly 6, too pit, out of second-hand no one to plunges particularly fast, days seven plunges also slowly 7. Charger: Recommended one step, do not buy B6, is a pit. The worst is UNA6.8. Battery: This set of equipment with 3s2200 25C Flower card good, quality after sale are passable, is small expensive. Damp seems to be OK. Not recommended. Have a hands-on ability to buy their own group of batteries (battery buy about 3 pieces of it)
I recommend a set of inexpensive and easy to use for beginners reference
Sunnysky A2212 QQ flight control Skywalker 20A damp 3s2200 25C imitation APC 1047 imitation 450 rack heaven and earth flying seven imaxB6 if there is a plan to upgrade later, switch to Sunnysky A2212 QQ flight Control (APM also line, do not want to adjust the trouble that directly One step with NAZAv2 zero X4 what) Platinum 30A (if confident brush blheli that Skywalker 20A or 30A) damp 3s2200 25C Imitation APC 1047 remote control with D10, Day 9, Futaba charger UNA6 or better rack with X525 X6 00 or something.

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Three, equipment assembly 1. Installation of the rack, see Manual 2. Motor and ESC connection: can be used banana head, but not recommended, causing the novice fry the highest two reasons are banana head loose and paddle. The banana head can be oxidized and loosened after inserting and unplugging several times. So it is recommended to adjust the motor after the steering (any two of the three lines can be reversed after switching) directly welded to die. Please refer to the flight control instructions for the specific steering of the motor. 3. Link between ESC and plug: Take care not to have the ring line, so as to avoid the electromagnetic field affecting the electronic equipment. Can not be sure to use the Sub-board, but not recommended. Welding method Recommended Ah Connaught of this post http://bbs.5imx.com/bbs/forum.php?mod=viewthread&tid=9318114. ESC and flight control, flight control and reception connection: Refer to ESC, flight control, remote control manual. Recommended bubble Teacher's tutorial, very full very detailed, novice must see http://bbs.5imx.com/bbs/forum.php?mod=viewthread&tid=9638005. Loading propeller:do not install oars when commissioning!!! After commissioning, the propeller can be mounted on takeoff. Do not use this kind of thing Dan Head, easy to shoot oars, replaced byanti-loosening nut。 may not be well screwed, withnormal nut screw two or a line<ignore_js_op> 6. If this is the motor seat, or similar to extend the arm, not recommended installation, anyway, I am not optimistic about this, gently a break on the cracks, dare not heaven. <ignore_js_op> Original motor seat is light and sturdy, with aluminum square tube absolutely perfect, like this <ignore_js_op>
Four, after the completion of the first flight to prepare 1. Ensure that the connection between the devices is correct and reliable, the propeller is in the right direction, the motor is steering correctly, if it is the tubular arm must adjust the level of the motor seat. Make sure the remote is fully charged.  The remote channel corresponds to each action of the aircraft and can be viewed in the ground Assistant software 2. It is best to practice the simulator, any straight machine can be done, practice will be on the tail hover on the basic flying four axis,there is a certain rudder surface reaction, don't let the sky panic after God does not know the hand how the action is OK.  Four-axis is particularly good to fly (if you fly straight), the difficulty is 3 smaller than the direct machine. Technique: Beginner's initial flight,not large rudder when putting, after all, not toys, how to push all right.The putter must be 1.1-point push, slow to steady. It is possible to give a large throttle when takeoff because of the ground effect plane.  (I flew only because the putter was too excited to blow up and died without a whole body) 4. Venue: Be sure toNoEmptyaway from the streets of the buildings. DJI users are far away from all possible distractions. Preferably without wind.

V. Experience 1. About RacksWeight Reduction: Be sure to use less screws, the less the better! 2. About the elimination of jelly:balance of motor and propelleris the focus. Have tried to put the camera hard hanging to the top of the flight control, there is no jelly, should be related to the position of the camera, as far as possible in the central position. 3. About safe flight:The most important thing is a good and calm attitude, no matter what the situationcan't distressed。 Small machine don't fly far, don't out of sight.  Do not see the direction of decisive cut headless mode, or return home to go back and then replaced by manual mode (DJI users caution) 4. About the mentality:avoid impetuous. Everything is afraid of serious two words, to have a college entrance examination when the end of the study (although LZ this year's senior ...  ) 5. About frying machine: frying machine is unavoidable, the important thing is to find the cause after the blow-up troubleshooting, and the next how can not again because of the same reasons for frying machine.put an end to the explosion caused by someone watching for x6. About Learning:Multi-dive, multi-exchange. It's also nice to join some discussion groups.

If you have been getting started for a while and want to shoot (or upgrade), and have not bought the equipment, I have a plan to save money to hang the dog (do not want to bother the direct Elf +h3-3d bar. Can go to the DJI area first to see, if can accept you to use ... Power is powered by a genie, or other 2,212-level motor with good performance. T-motor something ... Paddle on the original DJI 9443, power and paddle directly affect how much of the jelly's flight control: APM, affordable, powerful, with Simmons rack: self-mold (shan) imitation (Zhai), 10*10*0.8 aluminum square tube + carbon fiber center plate, less with screws, and the total weight of the tripod can be within 150 grams, Wheelbase between the 400~450 (can refer to my shelf) gimbal: In Thousand yuan, the weight within 150 grams, the performance should be similar, I also struggle to choose which, to recommend! Camera: Dog 3+/dog 3/Mountain Dog/Mountain Dog 3. Look at your requirements for picture quality, anyway, I do not want to endure the mountain dog. ESC: Skywalker 20A brush Blheli finished platinum, silky smooth map: 200mW or 400mW foot battery: 3s2200 words with the gimbal takeoff weight estimate in 1.1~1.2kg. I now have no gimbal on the plane, no picture transmission, hard hanging Mountain dog takeoff 930 grams. 1.2KG words can reach 9 minutes, aerial shooting is enough. If 3s5000 would be a little overweight, 2212 would not be so heavy. I think this is the most economical option for a dog-hanging machine. However, the small rack in wiring and equipment installation may not be too convenient, the appearance may be more messy, the appearance of the party or 650 more in line with the taste

If you have any questions welcome replies to the discussion of the exchange, I will try to keep the update of this post if there is a mistake welcome criticism

Teach you to create a four-axis aircraft from scratch

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