BUILDING AND CONTROLLING THE （建立和控制）.pdf

Number 5, Volume VI, December 2011 BUILDING AND CONTROLLING THE QUADROCOPTER 1 Pavel Chmelař Summary: Quadrocopter it’s a flying object, which flies with a help by four propellers placed on the end of a cross construction. Main features this device are stability, small weigh and maneuverability. At present is popular for his advantages. Key words: quadrocopter, PID, controller INTRODUCTION Quadracopters are with us almost one century. First experiments with him started at the beginning 20th century. The first functional quadracopter was built in year 1920 by Etienne Oehmichen. At first were created devices that should to carry a weight of human body. Actual trend is creation small unmanned quadrocopters. The main reasons for this situation are ability to easy control and maneuverability. Quadrocopters are used by enthusiastic modellers, but also find an application in the professional sphere, such as the police or the army. Here (2) and (3) it’s described a construction and a stabilization of the quadropter. In (2) is applied the CHR-6d as a position sensor. The author solves stabilization by using the DCM (Direct Cosine Matrix) algorithm. The position sensor CHR-6d has the onboard EKF (Extended Kalman Filter) for pitch and rolls angle estimation, so I wanted try use on the quadrocopter. In (2) and (3) is the control of quadcopter solved by using a RC remote control. This solution is a natural, but I wanted use something else. Currently many people have a mobile device with Bluetooth technology, so is good idea using a mobile device as a remote control for the quadcopter, is need only a Bluetooth module, which it is not too expensive. This article discusses abou