Editing Multi-rotor
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* runs image-recognition software on-board? | * runs image-recognition software on-board? | ||
** flight control based on images? | ** flight control based on images? | ||
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== motors and propellers == | == motors and propellers == | ||
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It appears that most modern small electric aircraft use so-called "brushless DC motors", each one driven by its own "BLDC ESC". (These are easily recognized -- BLDC motors have exactly 3 equally-fat wires that go into them, which come from the BLDC ESC -- as opposed to most electric aircraft a few years ago, which used brushed DC motors with exactly 2 equally-fat wires). | It appears that most modern small electric aircraft use so-called "brushless DC motors", each one driven by its own "BLDC ESC". (These are easily recognized -- BLDC motors have exactly 3 equally-fat wires that go into them, which come from the BLDC ESC -- as opposed to most electric aircraft a few years ago, which used brushed DC motors with exactly 2 equally-fat wires). | ||
− | + | While it is probably not cost-effective to build your own BLDC motor or BLDC ESC, many of us are insatiably curious about what goes on inside these things, and so build one anyway: | |
+ | * "Proposal for a high-speed serial (spi/i2c) arduino-based ESC for quadrotor/multirotor projects": designed specifically for academic research in stability and controls analysis of quadcopters. The goals are apparently (a) open-source and easy to reprogram, so other academics can replicate the experiments and make improvements, (b) low-latency quick response for (hopefully) better quadcopter stability, (c) lower cost than an Open-BLDC.[http://diydrones.com/forum/topics/proposal-for-a-highspeed] | ||
+ | * Open-BLDC Project wiki: "a completely Open-Source BrushLess Direct Current motor controller also known as Electronic Speed Controller (ESC)." "Open-BLDC has ... many additional sensors to make Vector control possible. The goal is also to make the best possible controller and not the smallest or cheapest." http://open-bldc.org/ | ||
+ | * [http://en.wikipedia.org/wiki/brushless_DC_electric_motor Wikipedia: brushless DC electric motor] | ||
+ | * [http://www.atmel.com/dyn/resources/prod_documents/doc8012.pdf Atmel AVR444: Sensorless control of 3-phase brushless DC motors] using ATmega48 (also works without change for ATmega88 and ATmega168). Assumes you've already read [http://www.atmel.com/dyn/resources/prod_documents/doc2596.pdf Atmel AVR443: Sensor-based control of three phase Brushless DC motor] | ||
+ | * [http://www.atmel.com/dyn/resources/prod_documents/doc8138.pdf AVR194: Brushless DC Motor Control using ATmega32M1]: BLDC motor control application using Hall effect position sensors to control commutation sequence. | ||
+ | * MikroKopter brushless motor controller: was designed to give lower latency than off-the-shelf PWM ESCs.[http://www.mikrokopter.de/ucwiki/BrushlessCtrl] | ||
+ | * OpenServo Brushless DC Servo: "The thing that will make our board different from other ESC's is that we are closing the feedback loop with a ... outside position reference." [http://www.openservo.com/forums/viewtopic.php?t=972] | ||
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== unnecessarily complicated equations == | == unnecessarily complicated equations == | ||
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To double thrust requires either pulling almost 3 times as much power from the batteries, or using rotors with almost 3 times the diameter. | To double thrust requires either pulling almost 3 times as much power from the batteries, or using rotors with almost 3 times the diameter. | ||
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== what can a helicopter do besides hover in the air? == | == what can a helicopter do besides hover in the air? == | ||
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* The TurtleCam "acquires high resolution video and images which are streamed live to a base station.". [http://processors.wiki.ti.com/index.php/Beagle_Board_Challenge:_TurtleCam TurtleCam overview]; [http://code.google.com/p/turtlecam/ TurtleCam source code and BeagleLeashPCB details] | * The TurtleCam "acquires high resolution video and images which are streamed live to a base station.". [http://processors.wiki.ti.com/index.php/Beagle_Board_Challenge:_TurtleCam TurtleCam overview]; [http://code.google.com/p/turtlecam/ TurtleCam source code and BeagleLeashPCB details] | ||
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== unsorted == | == unsorted == |