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

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.