基于蓝牙4.0模块的直升机航模控制系统
Control of Helicopter Aero Model Based on Bluetooth Version 4.0 Block
Abstract
蓝牙4.0核心规范是蓝牙技术的最新版本,是专门面向对成本和功耗都有较高要求的无线方案.本研究设计了基于蓝牙4.0技术共轴双桨直升机航模遥控系统,详细给出了系统整体设计方案和硬件设计.以IPHOnE 4S手机作为遥控器,基于苹果公司IOS 5操作系统开发了触屏遥控软件.系统使用脉宽调制(PulSE WIdTH MOdulATIOn,PWM)技术控制3个直流电机和3个旋翼,采用陀螺仪来获取机身偏转角信息,实现定角度偏转,用数字式PId算法反馈控制直流电机,带动旋翼,同时提出了一种双桨联立的新PId算法,用于控制机身偏转角.实验结果表明该控制系统有效操控距离在100M以上,能够平稳地完成3组动作. As the latest version of Bluetooth,Bluetooth version 4.0 is used in the field of wireless especially for the solutions which need higher demands of cost and power consumption.The research takes iPhone 4S as a remote control to design a coaxial helicopter aero model based on the technology of Bluetooth version 4.0.We utilize Apple iOS 5 operation system to develop the touch-screen software of remote control.The paper proposes a particular designing plan of the integrated system and hardware design.Three DC motors and three rotary wings are controlled properly by pulse width modulation(PWM) technology.To deflect the helicopter at a given-angle,the system uses a gyroscope to obtain the information of fuselage deflecting angle and a digital proportinal-integral-derivative(PID) algorithm is used to control the DC motors to drive the rotary wings.We put forward a new PID algorithm,which concerns two rotary wings simultaneously,to control the deflecting angle.The experimental result shows that the effective remote operation distance is above 100 m and 3 sets of actions can be accomplished smoothly.