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7Ï07Ҳ7%È2&È2

QuadURFRSWHUFzQÿѭӧFJӑLOjQuadrotor HHOLFRSWHUOjPӝWGҥQJPi\ED\OrQ
WKҷQJÿѭӧFQkQJEӣLEӕQFiQKTXҥWÿһWWUrQPӝWNKXQJFKӳWKұS
0{ KuQK ÿѭӧF [k\ GӵQJ WKӓD PmQ Fҧ  \ӃX Wӕ Oj QKҽ Yj FKҳF FKҳQ 1KӳQJ
FKX\ӇQÿӝQJFӫDP{KuQKÿѭӧFÿRÿҥFWK{QJTXDEӝ,08 (Inertial0HDVXUHPHQW8QLW
FzQJӑLOjEӝÿROѭӡQJTXiQWtQK) EDRJӗPPӝWFRQTXD\KӗLFKX\ӇQhai WUөFYjFҧP
ELӃQÿӝQJKLrQJEDWUөFYjÿѭDYӅYLÿLӅXNKLӇQWKӵFKLӋQWKXұWWRiQÿLӅXNKLӇQ PID
cho ÿӝQJFѫWK{QJTXDSKѭѫQJSKiSÿLӅXFKӃÿӝUӝQJ[XQJ3:0







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ABSTRACT

A Quadrocopter, also called a Quadrotor Helicopter, is an aircraft that is lifted by
four rotors on a cross-shaped frame.
We succeeded in building a Quadrocopter with stiff and lightweight structure.
Our Quadrocopter¶V in-flight dynamics was measured via an IMU (Inertial
Measurement Unit) which equipped with a dual-axis gyroscope and a three axis tilt-
sensor. A microcontroller took these sensorV¶ inputs and performed PID control
algorithm on the four motors by varying PWM signals sent to each of the motors.

viii
0Ө&/Ө&
7UDQJEuD i
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1KұQ[pWFӫDJLiRYLrQSKҧQELӋQ iv
/ӡLFҧPѫQ v
7yPWҳWÿӗiQ vi
Abstract vii
0өFOөF viii
'DQKPөFKuQK x
'DQKPөFEҧQJ xiii
&iFTX\ѭӟFYjKҵQJVӕOLrQTXDQ xiv
&+ѬѪ1*7Ә1*48$1
1.1 6ӵNKiFQKDXJLӳD+HOLFRSWHUYjQuadrocopter 1
9ӅNӃWFҩXFѫNKtYjQJX\rQOêKRҥWÿӝQJ 1
9ӅWtQKQăQJÿLӅXNKLӇQ 3

1.2 7uQKKuQKQJKLrQFӭXWKXӝFOƭQKYӵFÿӅWjL 4
1.2.1 /ӏFKVӱSKiWWULӇQFӫDPi\ED\Quadrocopter 4
1.2.2 7uQKKuQKQJKLrQFӭXӣQѭӟFQJRjL 7
1.2.3 7uQKKuQKQJKLrQFӭXWURQJQѭӟF 10
1.3 1ӝLGXQJQJKLrQFӭXFӫDÿӅWjL 12
1.4 3KѭѫQJSKiSYjSKѭѫQJWLӋQQJKLrQFӭX 13
&+ѬѪ1*2: /é7+8<ӂ77,ӂ3&Ұ1
2.1 /êWKX\ӃWÿLӅXNKLӇQQuadrocopter 14
2.2 0{KuQKWRiQFӫDQuadrocopter 17
2.2.1 ĈӝQJKӑF 17
2.2.2 ĈӝQJOӵFKӑF 20
2.2.3 0{KuQK1HZWRQ-Euler 21
2.2.4 .KtÿӝQJKӑF 27
2.3 ĈLӅXNKLӇQÿӝQJFѫPӝWFKLӅXNK{QJFKәLWKDQ 32
2.4 %ӝOӑF.DOPDQ 36
2.4.1 .KiLQLӋPEӝOӑF 36
2.4.2 %ӝOӑF.DOPDQOjJu ? 36
2.4.3 %ҧQFKҩWFӫDEӝOӑF.DOPDQ 38
ix
2.4.4 4X\WUuQKѭӟFOѭӧQJ 38
2.4.5 6RViQKFiFEӝOӑFYӟLEӝOӑF.DOPDQ 40
2.5 *LiPViW- ÿLӅXNKLӇQJLDRWLӃSPi\WtQKGQJSKҫQPӅPLabVIEW 42
2.5.1 7әQJTXDQYӅLabVIEW 42
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&+ѬѪ1* ;Æ<'Ӵ1*0Ð+Î1+QUADROCOPTER
3.1 6ѫÿӗNKӕLWәQJWKӇFӫDKӋWKӕQJ 46
3.2 7KLӃWNӃ FѫNKt 47
3.3 7KLӃWNӃKӋWKӕQJÿLӅXNKLӇQ 51
3.3.1 7D\ÿLӅXNKLӇQ 52
3.3.2 0ҥFKWUXQJWkP 53

3.3.3 Module RF 57
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+uQK ĈӗWKӏÿiSӭQJ3'FӫDJyFUROOYӟLWiFÿӝQJ 79
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%ҧQJ%ҧQJWKDPFKLӃXÿiSӭQJOӵFÿҭ\FӫDÿӝQJFѫ 74
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v m/s YұQWӕFGjLWKHRWUөF
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q rad/s YұQWӕFJyF WKHRWUөF
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r rad/s YұQWӕFJyF WKHRWUөF
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YHFWRUYӏWUtJyFWKHRKӋTX\FKLӃXE

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YHFWRUYұQWӕFJyFWKHRKӋTX\FKLӃXE
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YHFWRUJLDWӕFJyFWKHRKӋTX\FKLӃX(
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m/
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vector vұQWӕFGjLWKHRKӋTX\FKLӃXE
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m/
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vector YұQWӕFGjLWKHRKӋTX\FKLӃXB


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m/
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vHFWRUJLDWӕF GjLWKHRKӋTX\FKLӃXB
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YHFWRUYұQWӕFWәQJTXiWWKHRKӋTX\FKLӃX(
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vector vұQWӕFWәQJTXiW theo
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vector vұn tӕc tәQJTXiWWKHRKӋTX\FKLӃX+

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YHFWRUOӵFKҩSGүQWKHRKӋTX\FKLӃX(


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YHFWRUKҩS GүQWKHRKӋTX\FKLӃX%

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U
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YHFWRUFKX\ӇQÿӝQJ WKHRKӋTX\FKLӃX%
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N OӵFQkQJWKHRKӋTX\FKLӃX%
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Nm PRPHQW[RҳQUROOWKHRKӋTX\FKLӃX%
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Nm PRPHQW[RҳQSLWFKWKHRKӋTX\FKLӃX%
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Nm PRPHQW[RҳQ\DZWKHRKӋTX\FKLӃX B

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Nm moment [RҳQtheo KӋTX\FKLӃX%
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PDWUұQFKX\ӇQÿӝQJ WKHRKӋTX\FKLӃX H
M
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PDWUұQTXiQWtQKKӋWKӕQJWKHRKӋTX\FKLӃX%

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m/s YHFWRUYұQWӕFGRYұQWӕFJyFFӫDOѭӥi FiQKTXҥt
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rad/s YұQWӕFJyFFӫDFiQKTXҥW
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N/m YLSKkQOӵFNpR
dL
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N/m YLSKkQ OӵFQkQJ
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N/m YLSKkQOӵFNKtÿӝQJKӑc
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N/m YLSKkQ OӵFNKtÿӝQJKӑFWKHRSKѭѫQJÿӭQJ
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N/m YLSKkQOӵFNKtÿӝQJKӑFWKHRSKѭѫQJQJDQJ
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rad JyFKӧSJLӳDÿѭӡQJQJDQJYӟLÿѭӡQJFKLDFiQKTXҥW
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2 ʌ JyFQkQJ
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75.5 x 10
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KӋVӕÿҭ\WKHRWKX\ӃWÿӝQJOѭӧQJ
c m 0.02 FKLӅXGjLWUXQJEuQKÿѭӡQJFKLDFiQKTXҥW

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PRPHQWTXiQWtQKTXD\WәQJFӝQJÿӕLYӟLWUөF
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FKӍJӗPPRWRUÿLӋQJҳQFiQKTXҥWÿѭӧFÿһWӣEӕQJyFFӫDPӝWKuQKYX{QJWURQJ
NKLWUӵFWKăQJP{KuQKWK{QJWKѭӡQJEDRJӗPKӋWKӕQJÿƭD[RD\VZDVKSODWHURWRU
KHDGYjFiFFҫQDUPURGÿӇWKD\ÿәLJyFWҩQ SLWFKFӫDFiQKTXҥWFKtQKWK{QJTXD
FiFVHUYRQKӓ

+uQK5&+HOLFRSWHU7-rex 600

+uQK&өPVZDVKSODWHWUrQFѫFҩXFiQKFӫD+HOLFRSWHU
1JRjLUDWUӵFWKăQJWK{QJWKѭӡQJFzQFyKӋWKӕQJFiQKTXҥWÿX{LÿӇOjPWULӋW
WLrXPRPHQWGRFiQKTXҥWFKtQKJk\UDĈLӅXQj\WLrXWӕQÿӃQQăQJOѭӧQJWәQJ
FӝQJFӫDPi\ED\1ăQJOѭӧQJQj\NK{QJVLQKF{QJÿӇQkQJPi\ED\PjFKӍWULӋWWLrX
PRPHQW[RҳQFKRQrQÿk\OjQăQJOѭӧQJY{tFKOjPJLҧPKLӋXVXҩWFӫDPi\ED\
2
+ѫQQӳDFiFKӋWKӕQJEiQKUăQJÿӇWUX\ӅQÿӝQJWӯPRWRUFKtQKVDQJFiQKTXҥW
FKtQKYjFiQKTXҥWÿX{LFNJQJUҩWSKӭFWҥS

+uQK3 &өPFiQKTXҥWÿX{LFӫDHelicopter
ĈӕLYӟLQuadURFRSWHUNӃWFҩXFKӍJӗPPRWRUÿLӋQJLӕQJQKDXFyOҳSFiQKTXҥW
ÿѭӧFÿһWӣJyFKuQKYX{QJYjFiQKTXҥWFyWKӇJҳQWUӵFWLӃSKD\WK{QJTXDWUX\ӅQ
ÿӝQJEiQK UăQJPRWRUQj\ÿѭӧFFKLDUDOjPFһSWUѭӟF-VDXWUiL-SKҧL


+uQKQuadrocopter
&KLӅXTXD\FӫDPRWRUWURQJPӛLFһSOjJLӕQJQKDXQKѭQJFKLӅXTXD\FӫDFһS
WUѭӟF-VDXYjWUiL-SKҧLOjQJѭӧFQKDX9tGөFһSWUѭӟF-VDXTXD\FQJFKLӅXNLPÿӗQJ
Kӗ WKu FһS WUiL-SKҧL TXD\ QJѭӧF FKLӅX NLP ÿӗQJ Kӗ 9j FiQK TXҥW GQJ WURQJ
QuadURFRSWHUSKҧLOjORҥLQJѭӧFQKDXPӝWORҥLTXD\FQJFKLӅXYjPӝWORҥLQJѭӧF
FKLӅXNLPÿӗQJKӗ7K{QJWKѭӡQJGQJORҥLFyJyFWҩQ FӕÿӏQKIL[HGSLWFK
0өF ÿtFK FӫDYLӋF Qj\ Oj ÿӇ WULӋWWLrX PRPHQW [RҳQ GR WӯQJFһS Jk\ UD 7X\
QKLrQQJRjLNKҧQăQJWҥRPRPHQWWULӋWWLrXQKDXPRWRUQj\NKLTXD\ÿӅXWҥROӵF
QkQJFKRPi\ED\NK{QJQKѭKӋWKӕQJKӋWKӕQJÿX{LFӫDWUӵFWKăQJWK{QJWKѭӡQJ
NK{QJWҥRÿѭӧFOӵFQkQJPjFKӍQKҵPOjPWULӋWWLrXPRPHQWFӫDFiQKTXҥWFKtQKĈk\
OjPӝWѭXÿLӇPOӟQFӫDQuadrocopter.
3
1JRjLPRWRUYjFiQKTXҥWUDWKuQuadURFRSWHUNK{QJFzQPӝWFKLWLӃWFKX\ӇQ
ÿӝQJQjRNKiFFKRQrQÿk\OjPӝWOӧLÿLӇPNKLVӱGөQJYjNK{QJFҫQSKҧLWKD\WKӃ
FiFFKLWLӃWQj\NKLEӏUӟWKD\YDFKҥPQKѭ+HOLFRSWHU
0ӝW\ӃXWӕUҩWTXDQWUӑQJQӳDOjGRÿѭӡQJNtQKFiQKTXҥWFӫDQuadURFRSWHUQKӓ
KѫQQKLӅXVRYӟL+HOLFRSWHUFKRQrQYLӋFED\WKӱQJKLӋPKD\ED\WURQJQKjFNJQJGӉ
GjQJYjWKXұQOӧLNK{QJJk\QJX\KLӇPWӟLQJѭӡL[XQJTXDnh.
1JX\rQOêKRҥWÿӝQJFӫDORҥLQuadURFRSWHUQj\FNJQJUҩWÿѫQJLҧQ

+uQK5 1JX\rQOêKRҥWÿӝQJFӫDQuadrocopter
x WUѭӟF-sau: ÿӇÿLYӅErQWUѭӟFPRWRUSKtDWUѭӟFJLҧPWӕFVRYӟLPRWRUVDXYj
QJѭӧFOҥLÿӇÿLYӅSKiLVDXPRWRUVDXJLҧPWӕFVRYӟLPRWRUWUѭӟF
x WUiL-SKҧL: ÿӇÿLYӅErQWUiLPRWRUWUiLJLҧPWӕFVRYӟLPRWRUSKҧLYjQJѭӧFOҥL

ÿӇÿLYӅErQSKҧLPRWRUSKҧLJLҧPWӕFVRYӟLPRWRUWUiL
x OrQ-[XӕQJ: tăQJWӕFKD\JLҧPWӕFÿӗQJWKӡL4 PRWRUVӁOjPWăQJOӵFQkQJKD\
JLҧPOӵFQkQJ ÿӇ ED\OrQKD\ [XӕQJ
x [RD\PXӕQ[RD\FQJFKLӅXNLPÿӗQJKӗWKuFһSPRWRUTXD\FQJFKLӅXNLP
ÿӗQJKӗYtGөWUѭӟF-VDXVӁTXD\FKұPKѫQFһSPRWRUTXD\QJѭӧFFKLӅXNLPÿӗQJKӗ
YtGөWUiL-SKҧL1JѭӧFOҥLPXӕQ[RD\QJѭӧFFKLӅXNLPÿӗQJKӗWKuFһSPRWRUTXD\
QJѭӧFFKLӅX NLPÿӗQJKӗWUiL-SKҧLVӁTXD\FKұPKѫQFһSPRWRUTXD\FQJFKLӅX
NLPÿӗQJKӗWUѭӟF-sau).
1.1.2 9͉WtQKQăQJÿL͉XNKL͋Q
;pWYӅPһWQj\WKuQuadURFRSWHUÿzLKӓLKӋWKӕQJPҥFKÿLӅXNKLӇQSKӭFWҥSKѫQ
YuSKҧLVӱGөQJFiF FҧPELӃQTXiQWtQKQKѭJ\UR (gyroscope) YjJLDWӕF (accelero-
meter) ÿӇWtQKWRiQÿѭӧFJyFQJKLrQJYjYұQWӕFTXD\WKHREDWUөFÿӇJLӳWKăQJEҵQJ
QӃXNK{QJVӁNK{QJWKӇQjRÿLӅXNKLӇQÿѭӧF7\WKHRKӋWKӕQJPҥFKÿLӅXNKLӇQWӕW
WӟLPӭFQjRVӁTX\ӃWÿӏQKWӟLNKҧQăQJÿLӅXNKLӇQQuadURFRSWHUGӉKD\NKy

1KѭQJ NKL ÿmÿѭӧF WKLӃW NӃ WӕWPӝW QJѭӡLFKѭD WӯQJÿLӅX NKLӇQ TXD OҫQQjR
FNJQJFy WKӇ ÿLӅX NKLӇQ ÿѭӧF QuadURFRSWHU PӝWFiFK GӉ GjQJ 7KHR QKѭQJX\rQOê
4
KRҥWÿӝQJÿmÿӅFұSWӟLӣWUrQWKuÿLӅXNKLӇQQuadURFRSWHUWKӵFFKҩWFKӍOjÿLӅXNKLӇQ
WӕFÿӝ FӫDPRWRUÿӇFyÿѭӧFFKX\ӇQÿӝQJPRQJPXӕQ
ĈӕL YӟL +HOLFRSWHUYLӋF ÿLӅX NKLӇQEDR JӗP UҩW QKLӅX \ӃX WӕÿLӅX NKLӇQ FiF
VHUYRÿӇWKD\ÿәLJyFWҩQ FӫDFiQKTXҥWFKtQKWKD\ÿәLWӕFÿӝFiQKTXҥWFKtQKWKD\
ÿәLWӕFÿӝKRһFJyFWҩQ FӫDFiQKTXҥWÿX{LÿӇEҿOiLWKD\ÿәLPһWSKҷQJTXD\FӫD
FiQKTXҥWFKtQKYY/RҥLQj\UҩWNKyÿLӅXNKLӇQFҫQSKҧLFyQKLӅXNӻQăQJYjNLQK
QJKLӋPĈӇFyWKӇÿLӅXNKLӇQÿѭӧFP{KuQKORҥLQj\QJѭӡLÿLӅXNKLӇQSKҧLPҩWPӝW
WKӡLJLDQNKiOkXÿӇOjPTXHQYjWKѭӡQJWKuSKҧLWұSOiLWUrQFiFSKҫQPӅPP{SKӓQJ
WUѭӟFPӟLÿӫWӵWLQFҫPOiL1ӃXNK{QJUӟWPi\ED\OjPӝWÿLӅXUҩWGӉ[ҧ\UD
1.2 7uQKKuQKQJKLrQFӭXWKXӝFOƭQKYӵFÿӅWjL
1.2.1 /͓FKV͵SKiWWUL͋QFͯDPi\ED\Quadrocopter
CyWKӇSKkQORҥLYұWWKӇED\UDWKjQKFiFORҥLQKѭVDX

+uQK1.6 3KkQORҥLYұWWKӇED\
&KLӃFQuadrocopter ÿҫXWLrQWUrQWKӃJLӟLUDÿӡLQăPGRDQKHPQKjNKRD
KӑFQJѭӡL3KiS/RXLVYj-DFTXHV%UHJXHW FQJJLiRVѭ Charles Richet KӧSWiF FKӃ
WҥR1yÿѭӧFPDQJWrQOj³%UHJXHW± Richet Gyroplane No.1´<rXFҫX ÿѭӧFÿѭDUDOj
QyFyWKӇ FҩWFiQKNKӓLPһWÿҩWYӟLSKLF{QJ0ӝWÿӝQJFѫ[y-ODQKÿѭӧFVӱGөQJ
ÿӇTXD\FiQK TXҥW0ӛLFiQKTXҥWFyEҧQFiQK+ӋWKӕQJGk\ÿDLYjSX-OLÿѭӧFJҳQ
OrQQKҵPWUX\ӅQÿӝQJWӯÿӝQJFѫFKRFiFFiQK%ӝNKXQJFӫD FKLӃFQuadrocopter Qj\
OjP Wӯ FiF ӕQJ WKpS 7әQJ WUӑQJ OѭӧQJ FӫD Qy YjR NKRҧQJ 75Kg /ҫQ ED\ WKӱ
QJKLӋPÿҫXWLrQGLӉQUDWҥL'RXDL- 3KiSYjRQăPQyÿmFyWKӇQkQJFDRNKӓL
PһWÿҩW.5m.

Quadro-
copter
5

+unh 1.7 Breguet- Richet Gyroplane No.1
ĈӃQ QăP  (WLHQQH 2HPLFKHQ ÿmFKӃ WҥR PӝW FKLӃF Quadrocopter YӟL 8
FiQKTXҥWOLQKKRҥWQKҵPÿLӅXNKLӇQYjWҥROӵFÿҭ\%DQÿҫXQyÿѭӧFJҳQWKrPPӝW
NKtFҫXÿӇQkQJYjJLӳәQÿӏQKFKRFӛPi\Qj\1ăP22HPLFKHQÿmWKjQKF{QJ
NKLFKRFKLӃFQuadrocopter ED\PjNK{QJFҫQVӵWUӧJL~SFӫDNKtFҫX 6DXÿy Qy
NK{QJEDRJLӡÿѭӧFVӱGөQJQӳD.


+uQK1.8 QuadURFRSWHUFӫD(WLHQQH2HPLFKHQ
6
&NJQJWURQJQăPWLӃQVƭ*HRUJHGH%RWKH]DWYj,YDQ-HURPHÿmWKjQKF{QJ
NKLWKLӃWNӃ FKLӃFQuadrocopter NKәQJOӗSKөFYөFKRTXkQÿӝL0ӻ&ӛPi\Qj\ÿm
ÿѭӧFÿLӅXNKLӇQEҵQJFiFKWKD\ÿәLÿѫQOҿKRһFFQJO~FFiFJyF[RҳQFӫDFiQKTXҥW
1JRjLUDQyFzQÿѭӧFJҳQWKrPFiQKTXҥWORҥLQKӓÿӇWUӧJL~SÿLӅXNKLӇQ&KLӃF

Quadrocopter Qj\ÿѭӧFÿһWWrQOj´%ҥFKWXӝFED\´1KѭQJGӵiQQj\EӏKӫ\EӓQJD\
OұSWӭFYuNKҧQăQJED\WKҩSJLiWKjQKFDR


+uQK³%ҥFKWXӝFED\´
ĈӃQQăP1956, Convertawings lҫQQӳD OjPVӕQJOҥL tKLӃWNӃWUӵFWKăQJ FiQK
TXҥWÿmÿѭӧFWKӱQJKLӋPQăP EӣL Oemichen WҥL 3KiS Yj G. de Bothezat WҥL 0ӻ.
BӕQ FiQKTXҥW FӫD FKLӃFWUӵFWKăQJ Qj\ ÿѭӧF JҳQNӃW theo WӯQJFһSWUrQWKDQKQӕL
song song. &ѫFKӃ NLӇPVRiW Y{FQJ ÿѫQJLҧQ EҵQJFiFK WKD\ÿәL OӵFÿҭ\ JLӳD FiF
FiQKTXҥW. 1ăQJOѭӧQJ ÿѭӧFFXQJFҩS EӣL hai ÿӝQJFѫWUX\ӅQÿӝQJWӟL KӋWKӕQJ FiQK
TXҥW EҵQJ Gk\ÿDL FKӳ9. 0i\ED\Fy EDEiQK ÿiS YӟL hai EiQKVDX Yj PӝW EiQKWUѭӟF
Fy
WKӇ xoay ÿѭӧF. &KX\ӃQED\ÿѭӧFWKӵFKLӋQWKjQKF{QJYjRWKiQJQăPWҥL
0ӻ7X\QKLrQGӵiQQj\ÿmVӟPEӏFKҩPGӭWGRNK{QJQKұQÿѭӧFÿѫQÿһWKjQJ

+uQKConvertawings Model A
7ӯÿyFiFFҩXKuQKFӫD Pi\ED\ QuadURFRSWHUNK{QJFzQÿѭӧFFK~êQKѭWUѭӟF
0mL FKR ÿӃQQKӳQJ QăP JҫQ ÿk\, Quadrocopter PӟL ÿѭӧF TXDQ WkP WUӣ OҥL vu NKҧ
QăQJӭQJGөQJUҩWOӟQWURQJOƭQKYӵFWKLӃWEӏ bay P{KuQK.
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7
1.2.2 7uQKKuQKQJKLrQFͱXͧQ˱ͣFQJRjL
9uWtQKFKҩWÿѫQJLҧQWURQJNӃWFҩXFѫNKtYjWtQKOLQKÿӝQJWURQJYLӋFÿLӅXNKLӇQ
FNJQJ QKѭ WLӅP QăQJ ӭQJ GөQJ UҩW OӟQ YjR WKӵF WӃ FӫD P{ KuQK ORҥL Qj\ Pj
Quadrocopter ÿm Yj ÿDQJ ÿѭӧF QKLӅX KmQJ WUrQ WKӃ JLӟL QJKLrQ FӭX SKiW WULӇQ WUӣ
WKjQKVҧQSKҭPWKѭѫQJPҥL

6DXÿk\[LQÿѭӧFJLӟLWKLӋXPӝWYjLVҧQSKҭPÿLӇQKuQK
a6̫QSḴP;-3URFͯD'UDJanfly Innovations

[1]


+uQK11 6ҧQSKҭP;-3URFӫDKmQJ'UDJDQIO\Innovations
&iFWK{QJVӕNӻWKXұW
- &yWKӇQkQJÿѭӧFWӕLÿDJ
- ĈѭӧFÿLӅXNKLӇQEҵQJEӝY{WX\ӃQNrQK)03&0
- .KXQJEҵQJFDUERQ
- 9ұQKjQKEҵQJSLQP$K9
- 0DQJFDPHUDÿӇTXDQViWFKөSNK{QJҧQK
- 7KӡLJLDQED\SK~W
- *Li·
7X\QKLrQYLӋFÿLӅXNKLӇQORҥLPi\ED\Qj\SKөWKXӝFQKLӅXYjRNӻQăQJFӫD
QJѭӡLÿLӅXNKLӇQYjFҫQWKӡLJLDQÿӇOjPTXHQYuNK{QJFyKӋWKӕQJWӵFkQEҵQJYj
FiFFҧPELӃQFҫQWKLӃWNKiF
E6̫QSḴP0'-FͯDKmQJ0LFURGURQH
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Ĉk\Oj PӝWVҧQSKҭPFӵFNǤFKX\rQQJKLӋSYjQyFyWrQJӑLOj972/$80$9
(Vertical Take Off and Landing Autonomous Unmanned Micro Aerial Vehicle) hay
Pi\ ED\ VLrX QKӓWӵ ÿӝQJFҩW FiQKYj KҥFiQK WKҷQJÿӭQJ /RҥL Qj\ Fy KӋ WKӕQJ
AAHRS ( Altitude and Attitude and HHDGLQJ5HIHUHQFH6\VWHPKD\FzQJӑLKӋWKӕQJ
WKDPFKLӃXÿӝFDRJyFQJKLrQJYjKѭӟQJÿѭӧFWUDQJEӏFiFORҥLFҧPELӃQJLDWӕF
J\URFҧPELӃQWӯWUѭӡQJYjQKLӋWÿӝFҧPELӃQiSVXҩWFҧPELӃQÿӝҭP1JRjLUDFzQ
FyNKҧQăQJED\WKHROӝWUuQKFjLÿһWVҹQQKӡWUDQJEӏWKLӃWEӏÿӏQKYӏWRjQFҫX*36
MD4-ÿѭӧFWUDQJEӏFDPHUDÿӇWKӵFKLӋQFKөSNK{QJҧQKTXDQViWWKHRG}L
KD\WULQKWKiPWUrQNK{QJ&iFSKөWQJNKiFNqPWKHREDRJӗP KӝSÿӵQJEӝWKX
8
SKiWWtQKLӋXYLGHRYjGӳOLӋXPi\WtQKÿӇKLӇQWKӏFiF WK{QJVӕYӅWuQKWUҥQJFӫDPi\
ED\FNJQJQKѭFiFWtQKLӋXFҧPELӃQFiFJyFQJKLrQJGӳOLӋX*36«
Khung MD4-WҩWFҧÿӅXOjPEҵQJFDUERQYuWKӃUҩWQKҽYjFKӏXYDÿұSUҩWWӕW

QJRjLUDGROjPEҵQJFDUERQQrQNKXQJFӫD0'-KRҥWÿӝQJQKѭPӝWYӓEӑFFy
NKҧQăQJFKӕQJFiFORҥLQKLӉXÿLӋQWӯ
%ҵQJFiFKVӱGөQJPRWRUFyVӕYzQJTXD\WӕLÿDYzQJSK~WQrQÿӝӗQUҩW
WKҩSG%$#PUҩWWKtFKKӧSFKRPөFÿtFKWULQKWKiPKD\TXDQViWWUrQNK{QJ
PjNK{QJEӏSKiWKLӋQĈһFWtQKDQWRjQFӫD0'-QKӡNKҧQăQJWUiQKEӏUӟWYjWӵ
ÿӝQJKҥFiQKDQWRjQNKLSLQJҫQKӃWKD\OjPҩWWtQKLӋXY{WX\ӃQÿLӅXNKLӇQ
1JXӗQÿLӋQOjSLQ/LSR9P$K7\WKXӝFYjRWҧLPDQJWKHRWӕLÿD
JJLyQKLӋWÿӝPjWKӡLJLDQED\FӫD0'-FyWKӇOrQWӟLSK~W *Li

+uQK12 6ҧQSKҭP0'-FӫDKmQJ0LFURGURQH

+uQK13 0i\WtQKÿӇKLӇQWKӏFiFWK{QJVӕYӅWuQKWUҥQJFӫDPi\ED\
c6̫QSḴP FͯD$5'URQHFͯDKmQJ Parrot

Ĉk\OjVҧQSKҭPSKөFYө PөFÿtFKJLҧLWUtFKҥ\WUrQӭQJGөQJFӫDL3KRQH
AR.'URQHVӱGөQJSLQ/L-LRQQӃXÿѭӧFVҥFÿҫ\WKuQyFyWKӇED\WURQJYzQJ
SK~W3KҫQWKkQFӫDQyUҩWQKӓ, ÿѭӧFOjPWӯVӧLFDUERQYj[ӕSÿӇJLҧPWUӑQJOѭӧQJ
$5'URQHFKӍQһQJJUDP
&KLӃFPi\ED\P{KuQKQj\FyFDPHUDPӝWÿһWSKtDWUѭӟFYjPӝWӣ brQGѭӟL
NӃWQӕLWUӵFWLӃSYӟLÿLӋQWKRҥLL3KRQHTXDVyQJZLIL1KӳQJKuQKҧQKWӯFDPHUDWUrQ
Pi\ED\VDXÿyVӁKLӇQWKӏWUrQPjQKuQKL3KRQHJL~SQJѭӡLGQJÿLӅXNKLӇQGӉGjQJ
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