多旋翼无人机的设计与制作_陆元杰，李晶主编_9787121392986

本书从对无人机的认识到各电子元件的应用，从结构件的设计到机械加工，再从固件程序的写入到无人机的试飞，涵盖了多旋翼无人机设计与制作的所有内容。

第1 章无人机简介 ...................................................................................... 1

1.1 航空模型的历史 ............................................................................................................ 1

1.2 无人机与航模的区别 .................................................................................................... 3

1.3 无人机的分类 ................................................................................................................ 4

1.4 无人机的使用安全 ........................................................................................................ 5

复习与思考............................................................................................................................. 7

第2 章多旋翼无人机机架设计 .................................................................... 8

2.1 初识SOLIDWORKS .................................................................................................... 9

2.1.1 SOLIDWORKS 基本操作 .................................................................................. 9

2.1.2 SOLIDWORKS 用户界面 ................................................................................ 11

2.2 机臂设计 ...................................................................................................................... 15

2.3 管夹设计 ...................................................................................................................... 17

2.4 电机设计 ...................................................................................................................... 22

2.5 电机座设计 .................................................................................................................. 28

2.6 GPS 支架设计 ............................................................................................................. 29

2.7 中心板及挂载板设计 .................................................................................................. 34

2.8 脚架设计 ...................................................................................................................... 37

2.9 桨叶设计 ...................................................................................................................... 40

2.10 总体装配 .................................................................................................................... 45

复习与思考........................................................................................................................... 51

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第3 章多旋翼无人机机架生产与加工 ........................................................ 52

3.1 初识NcStudio .............................................................................................................. 52

3.2 NcStudio 基本操作 ...................................................................................................... 52

3.3 碳纤维板加工 .............................................................................................................. 66

3.4 初识Cura ..................................................................................................................... 74

3.4.1 Cura 首次启动设置向导 .................................................................................. 74

3.4.2 模型的载入和查看 ........................................................................................... 76

3.4.3 模型的调整 ....................................................................................................... 81

3.4.4 基础切片设置 ................................................................................................... 84

3.4.5 高级切片设置 ................................................................................................... 86

3.4.6 输出Gcode 文件 .............................................................................................. 87

3.4.7 结束语 ............................................................................................................... 88

3.5 3D 打印机的基本应用 ................................................................................................ 88

3.5.1 连接打印机 ....................................................................................................... 88

3.5.2 手动控制打印机 ............................................................................................... 90

3.5.3 上传、下载Gcode 文件 .................................................................................. 91

3.5.4 打印Gcode 文件 .............................................................................................. 91

3.6 脚架等辅助部件的加工 .............................................................................................. 91

复习与思考........................................................................................................................... 95

第4 章多旋翼无人机电气控制系统的设计 ................................................ 96

4.1 无刷电机 ...................................................................................................................... 96

4.2 电子调速器 .................................................................................................................. 97

4.3 舵机 ............................................................................................................................. 98

4.4 航空电池 .................................................................................................................... 101

4.5 平衡充电器 ................................................................................................................ 103

4.6 无线电遥控 ................................................................................................................ 104

4.7 飞行控制系统 ............................................................................................................ 106

复习与思考......................................................................................................................... 107

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第5 章多旋翼无人机开源控制系统的应用 .............................................. 108

5.1 初识Pixhawk ............................................................................................................. 108

5.2 固件的更新与刷写 .................................................................................................... 112

5.3 机架类型设置 ............................................................................................................ 117

5.4 初始化校准 ................................................................................................................ 118

5.5 试解锁检查 ................................................................................................................ 129

5.6 电调校准 .................................................................................................................... 131

5.7 飞行模式设置 ............................................................................................................ 132

5.8 电流计的使用 ............................................................................................................ 140

5.9 GPS 的使用 ............................................................................................................... 141

5.10 数传和OSD ............................................................................................................. 142

5.11 自动调参 .................................................................................................................. 145

5.12 自动微调和手动微调 .............................................................................................. 147

复习与思考......................................................................................................................... 147

第6 章多旋翼无人机飞行 ....................................................................... 149

6.1 起飞与降落练习 ........................................................................................................ 149

6.2 升降练习 .................................................................................................................... 150

6.2.1 上升练习 ......................................................................................................... 150

6.2.2 下降练习 ......................................................................................................... 150

6.3 俯仰练习 .................................................................................................................... 150

6.3.1 俯冲练习 ......................................................................................................... 151

6.3.2 上仰练习 ......................................................................................................... 151

6.4 偏航练习 .................................................................................................................... 151

6.4.1 左偏航练习 ..................................................................................................... 151

6.4.2 右偏航练习 ..................................................................................................... 152

6.5 手动飞行 .................................................................................................................... 152

6.5.1 直线飞行 ......................................................................................................... 152

6.5.2 曲线飞行 ......................................................................................................... 152

6.6 自动飞行 .................................................................................................................... 153

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6.6.1 TAKEOFF 起飞 .............................................................................................. 154

6.6.2 WAYPOINT 航点 ........................................................................................... 154

6.6.3 SPLINE WAYPOINT 曲线航点 ..................................................................... 155

6.6.4 LOITER_TIME 定点延时 .............................................................................. 156

6.6.5 LOITER_TURNS 定点绕圈 .......................................................................... 156

6.6.6 LOITER_UNLIMITED 等待处理 ................................................................. 156

6.6.7 RETURN-TO-LAUNCH 自返 ....................................................................... 157

6.6.8 LAND 自主降落 ............................................................................................. 157

6.6.9 Do-Set-Roi 兴趣热点 ..................................................................................... 157

6.6.10 CONDITION-DELAY 条件延迟 ................................................................. 158

6.6.11 CONDITION-DISTANCE 条件距离 ........................................................... 159

6.6.12 CONDITION-YAW 条件指向 ..................................................................... 159

6.6.13 DO-JUMP 执行跳转 .................................................................................... 159

6.6.14 DO-CHANGE-SPEED 变更速度................................................................. 160

6.6.15 DO-SET-CAM-TRIGG-DIST 距离快门 ...................................................... 160

6.6.16 DO-SET-RELAY 继电器 .............................................................................. 160

6.6.17 DO-REPEAT-RELAY 重复继电器 .............................................................. 161

6.6.18 DO-SET-SERVO 舵机 .................................................................................. 161

6.6.19 DO-REPEAT-SERVO 重复舵机 .................................................................. 161

6.6.20 DO-DIGICAM-CONTROL 快门控制 ......................................................... 162

复习与思考......................................................................................................................... 162

附录A Pixhawk 标准参数 ........................................................................ 163

附录B 硅胶线参数 ................................................................................... 169

附录C 常用接口参数 ............................................................................... 170

附录D 常用电机参数 ............................................................................... 171

附录E Pixraptor 引脚接线定义 ................................................................ 172

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