第一篇：VijayKumar_2012關(guān)于四軸飛行器的演講稿(中英文對照)

早上好 我今天想談?wù)?自主飛行沙灘球 其實，是小型飛行器，像這一個 我想和大家談?wù)勗O(shè)計這些飛行器時的挑戰(zhàn) 和使用這些飛行器能給我們帶來的 很多用處 這些飛行器 源于無人駕駛的飛行器 但是那些都體積很大 通常上萬磅重 毫無靈活型可言 它們也不是真的自主飛行的 事實上，很多這些飛行器 都是受飛行團隊控制的 包括好幾個飛行員 感應(yīng)雷達操作員 和團隊協(xié)調(diào)員

我們想設(shè)計的飛行器是這樣的—— 這里有兩張照片—— 是你能夠在超市里買到的那種小飛行器 小型直升機，四個螺旋槳 不超過一米長 只不過幾磅重 我們把它們稍微改造一下，加上感應(yīng)器和處理器，它們就可以在室內(nèi)飛 用不著導(dǎo)航系統(tǒng)

我現(xiàn)在拿著的這個飛行器 是其中之一 是兩個學(xué)生做出來的 艾利克斯和丹尼爾 這個僅僅比零點一磅 稍微重一點 只需要大約十五瓦的電源 你能看到 它的直徑大約只有八個英寸 讓我給你們快速解釋一下 這些飛行器是怎么工作的

它有四個螺旋槳 當(dāng)四個螺旋槳轉(zhuǎn)速相同 這個飛行器就浮在空中 當(dāng)所有螺旋槳的速度提升時這個飛行器就加速升高 當(dāng)然了，如果飛行器已經(jīng)是傾斜的 向著地平線側(cè)過來 就會向這個方向加速 怎么能讓它側(cè)過來呢，有兩個途徑 從這張照片 你能看到四號螺旋槳旋轉(zhuǎn)加速 同時二號螺旋槳轉(zhuǎn)速變慢 這時 飛行器就能向一邊倒 反之亦然 當(dāng)三號螺旋槳加速 一號減速時 飛行器就向前倒

最后 如果任意兩端的螺旋槳的轉(zhuǎn)速 大于另兩端的螺旋槳的轉(zhuǎn)速 飛行器就能原地旋轉(zhuǎn) 所以裝在飛行器上的處理器 基本上能判斷需要執(zhí)行哪些動作 然后把它們組合起來 決定給螺旋槳下什么指令 一秒鐘六百次 簡單地說這些飛行器就是這么工作的

這個設(shè)計的一個好處 就是小巧 這些飛行器很靈活 這里的R 是飛行器的長度 其實是半徑 當(dāng)半徑變小時 很多物理參數(shù)都會變 最重要的一個參數(shù)是 慣性，也就是對于運動的阻力 結(jié)果是 慣性決定角速度 它是半徑的五次方函數(shù) 當(dāng)半徑變得越來越小時 慣性越來越快地減小 另一個結(jié)果是角速度的加速度 也就是這里的希臘字母alpha 等于一除以半徑 也就是半徑的倒數(shù) 當(dāng)半徑越小時飛行器能轉(zhuǎn)彎越快

這個視頻清楚地顯示 大家看右下角的飛行器 正在做一個三百六十度翻轉(zhuǎn) 只需要不到半秒 連續(xù)翻轉(zhuǎn)，稍微時間長一點 這里飛行器上用的處理器 能夠從飛行器上的加速度計 和陀螺儀得到反饋信息 然后算出，就像我剛才講的 一秒鐘六百個指令 來穩(wěn)定控制這個飛行器 在左邊你能看到丹尼爾把飛行器拋到空中 你能看到飛行器的控制有多快 不管你怎么扔 飛行器都能恢復(fù)平衡飛回來

為什么我們要設(shè)計這種飛行器呢？ 因為這樣的飛行器有很多用處 你能把它們放進像這樣的大樓里 作為報警器去尋找入侵者 尋找生化泄漏 或者煤氣泄漏 你還能用它們 建摩天大樓呢 這里是飛行器在搬梁運柱 架構(gòu)一個立方體的建筑 這里我想和大家介紹一下 這些機器人能被用來運貨 當(dāng)然一個問題是這些小飛行器 擔(dān)不了多少重量 你可能需要很多飛行器 來搬運重物 我們新做了個實驗—— 其實不那么新了—— 在日本仙臺，地震后不久 我們能把這些飛行器 送進倒塌的樓房 或者核反應(yīng)堆大樓 來探測放射性強度

一個根本的問題 是當(dāng)這些飛行器需要自控飛行，它們自己得弄明白 怎么從一個地點到另一個地點 這就變得有點難度了 因為這些飛行器的動力學(xué)是很復(fù)雜的 事實上它們總在對付十二維的空間 這里我們用了一點小技巧 我們拿這個十二位的空間 把它們轉(zhuǎn)換成平的四維空間 這個四維空間 包括了橫軸，縱軸和豎軸，還有旋轉(zhuǎn)軸

這些飛行器只需要 計劃一件事，我們管它叫最小化加加加速度軌道 提醒大家一點點物理學(xué)這里我們有位置向量，導(dǎo)數(shù)，速度 和加速度 還有加加速度 還有加加加速度 這個飛行器把加加加速度最小化 基本上它的工作是 創(chuàng)造一個光滑優(yōu)雅的運動曲線 這樣來繞開障礙物 所以這個四維平面中，這個飛行器使用 最小化加加加速度軌道，然后轉(zhuǎn)換回到 復(fù)雜的十二維空間飛行器必須這樣做來 獲得控制和執(zhí)行動作 讓我給大家看幾個例子 這些最小化加加加速度軌道是什么樣的 這是第一個視頻 這個飛行器從一個地點飛到另一個地點 中間經(jīng)停一下 顯然這個飛行器能 飛出一個曲線軌道 還有這樣的打圈的軌道 這里飛行器對抗兩倍的重力 它們上方還有一個動感監(jiān)控攝像機，每秒一百幅畫面來告訴這些飛行器它們的位置 也能告訴這些飛行器障礙物在哪里 障礙物移動都不要緊 當(dāng)?shù)つ釥柊烟兹θ拥娇罩?飛行器就開始計算套圈的位置 試圖預(yù)測怎么才能最有效地鉆過去 作為一個科研人員 我們總在試圖鉆出重重圈套，拿到更多經(jīng)費 甚至訓(xùn)練了我們的飛行器也來做這個（掌聲）

另一個飛行器能做的事情 是當(dāng)我們預(yù)先編入一些軌跡 或者它自己學(xué)著走過的，它能夠記住這里大家能看到 飛行器能夠（在預(yù)設(shè)軌跡上）加上一個動作 積聚動量 改變它的定向，再回到預(yù)設(shè)軌跡上來 它必須這樣做因為這個窗上的縫隙 只比它的寬度大一點點 所以就像是一個跳水運動員 從跳板上起跳，聚集動量，做個旋轉(zhuǎn)，兩圈半 然后優(yōu)雅地回到平衡 這個飛行器是自主這樣做的 它知道怎么把小段的軌跡組合起來 來做這些高難度的技巧

現(xiàn)在我想換個話題談?wù)勥@些小型飛行器 的不足之處，就是體積小 我已經(jīng)提過 我們需要使用很多飛行器 來克服體積小的不便 一個難點是 怎么使得這些飛行器集體飛行？ 我們在大自然中尋找答案 我想給大家看一個視頻 是關(guān)于Aphaenogaster沙漠蟻的 在史狄文·普熱特教授的實驗室里，這些螞蟻一起搬運重物 這是一個無花果 事實上無論什么東西，只要蘸上無花果汁這些螞蟻都會把它們帶回巢去 這些螞蟻沒有任何中央調(diào)控 它們是靠感應(yīng)鄰近的螞蟻 它們也沒有明確的交流 但是因為它們能夠感應(yīng)鄰近的螞蟻 也能感應(yīng)抬著的重物 整群的螞蟻有默契 這樣的協(xié)調(diào) 正是飛行器需要的 當(dāng)一個飛行器 被其他飛行器環(huán)繞時—— 讓我們注意 I 和 J 這兩個—— 當(dāng)它們成群飛行時 我們希望這兩個飛行器 能夠監(jiān)控它們之間的距離 我們需要確定這個距離是在可接受的范圍里的 飛行器要檢測這個變化 在控制指令中計算進去 也是每秒一百次 這個控制指令每秒會被送到馬達六百次 所以這個程序 是分散化執(zhí)行的 再有，如果你有很多很多飛行器 要完成集體飛行任務(wù)，能足夠快地集中協(xié)調(diào)所有這些信息 是幾乎不可能的加上這些飛行器只能 依靠局部的信息來決定做什么動作 也就是要靠感應(yīng)鄰近的飛行器 最后我們希望這些機器人 不知道它們的鄰居是誰 也就是匿名飛行

下一個我想給大家展示的 是這段視頻 這二十個小型飛行器 成群飛行 它們在監(jiān)測鄰居的位置維持群隊 群隊的形狀還能變 它們可以在一個平面上飛 也可以上中下地飛 大家可以看到 它們能從上中下的群隊變成平面的 在飛越障礙物的時候 它們能邊飛邊變換隊形 我想強調(diào)，這些飛行器距離都很近比如這個群隊，八架飛行器 相互距離不過幾英寸 盡管在空氣動力學(xué)上 這些螺旋槳相互干擾 它們還是能夠維持平穩(wěn)飛行（掌聲）

現(xiàn)在它們會成群飛了 它們就可以合作抬重物 這里展示的是 我們能夠把飛行器的能力 翻倍，翻三倍，四倍 僅僅通過讓它們和鄰居合作，大家可以看到 這樣做的一個不便之處 就是當(dāng)加大數(shù)量時—— 比如使用很多飛行器來抬一個物體 你其實是加大了慣性 這樣它們就不夠靈活了，這是一個代價 但是你可以增加載荷承載量

另一個我想給大家展示的用處是—— 這是在我們實驗室 這是研究生昆汀·林夕的工作 他的算法程序告訴這些飛行器 怎么使用桁架結(jié)構(gòu) 自動建造 一個立方體 他的算法程序告訴這些機器人 該用哪一塊 什么時候用，用在哪里 從這個視頻我們可以看到—— 這個視頻是十倍或者十四倍速度播放的—— 大家可以看到飛行器在搭建很不一樣的構(gòu)架 并且，所有的運動都是自主的 昆汀僅僅是 給它們一個藍圖 也就是他想建的設(shè)計

所有這里展示的實驗 所有這些演習(xí)都是靠著它們自己的動感檢測攝像機完成的 那么，當(dāng)它們離開實驗室 來到真實世界的時候，又怎么樣呢？ 沒有衛(wèi)星導(dǎo)航會怎么樣？ 這個飛行器 其實裝有一個攝像機 和一個激光測距儀，一個激光掃描儀 它可以使用這些探測裝置 來描繪周圍的環(huán)境的地圖 這個地圖包括很多細(xì)節(jié)—— 玄關(guān)，窗戶 人，家具—— 還能弄清楚相對于這些東西 它自己在哪里 所以這里沒有整體的協(xié)調(diào)系統(tǒng) 這個協(xié)調(diào)系統(tǒng)是靠飛行器自己來完成的它自己在哪里，前面有什么 還能利用周圍環(huán)境為自己找到出路

這里我想給大家再看一段視頻 這個算法程序是法蘭克·沈 和南希·麥克教授編的 當(dāng)這個飛行器第一次飛入一個建筑 它是怎么邊飛邊畫地圖的 這個飛行器弄明白了這些細(xì)節(jié) 開始畫地圖 弄明白了相對這些細(xì)節(jié)，自己在哪里，然后自我定位 全以每秒一百次的速度發(fā)生 這就給我們一個機會來控制這些算法 像我之前講過的 所以這個機器人其實是 被法蘭克遙控的 但是它自己也可以弄明白 怎么飛 假設(shè)我想放一個這樣的飛行器進一幢樓 我并不知道里面是什么樣的我可以讓它飛進去 創(chuàng)造一個地圖 然后飛回來告訴我里面是什么樣的 所以，這個飛行器不僅僅解決了 怎么從一點到另一點的問題 還能夠隨時知道 最好的目標(biāo)在哪里 基本上，它知道該去搜索哪里 因為那里的信息是最“未知”的 這就是它怎么填充這個地圖

這里我想展示給大家 最后一個用途 當(dāng)然這個技術(shù)有很多很多用途 我是個教授，我們很關(guān)心教育 這樣的飛行器其實可以改變 我們的小學(xué)和中學(xué)教育 我們在南加州 離洛杉磯很近所以我不得不 放點娛樂元素進去 我想給大家看一個音樂視頻 我想向你們介紹艾利克斯和丹尼爾，他們是導(dǎo)演兼制作（掌聲）

在我播放這個視頻前 我想告訴大家這是他們在過去三天做出來的 因為主持人克瑞斯給我打了個電話 在這個視頻中表演的飛行器 全是靠自控表演的 你能看到九個機器人，演奏六種不同樂器 當(dāng)然了，這是為了今年的TED2012特別制作的 請欣賞（音樂）（掌聲）

Good morning.I'm here today to talk about autonomous, flying beach balls.No, agile aerial robots like this one.I'd like to tell you a little bit about the challenges in building these and some of the terrific opportunities for applying this technology.So these robots are related to unmanned aerial vehicles.However, the vehicles you see here are big.They weigh thousands of pounds, are not by any means agile.They're not even autonomous.In fact, many of these vehicles are operated by flight crews that can include multiple pilots,operators of sensors and mission coordinators.What we're interested in is developing robots like this--and here are two other pictures--of robots that you can buy off the shelf.So these are helicopters with four rotors and they're roughly a meter or so in scale and weigh several pounds.And so we retrofit these with sensors and processors, and these robots can fly indoors without GPS.The robot I'm holding in my hand is this one, and it's been created by two students, Alex and Daniel.So this weighs a little more than a tenth of a pound.It consumes about 15 watts of power.And as you can see, it's about eight inches in diameter.So let me give you just a very quick tutorial on how these robots work.So it has four rotors.If you spin these rotors at the same speed, the robot hovers.If you increase the speed of each of these rotors, then the robot flies up, it accelerates up.Of course, if the robot were tilted, inclined to the horizontal, then it would accelerate in this direction.So to get it to tilt, there's one of two ways of doing it.So in this picture you see that rotor four is spinning faster and rotor two is spinning slower.And when that happensthere's moment that causes this robot to roll.And the other way around, if you increase the speed of rotor three and decrease the speed of rotor one, then the robot pitches forward.And then finally, if you spin opposite pairs of rotors faster than the other pair, then the robot yaws about the vertical axis.So an on-board processor essentially looks at what motions need to be executed and combines these motions and figures out what commands to send to the motors 600 times a second.That's basically how this thing operates.So one of the advantages of this design is, when you scale things down, the robot naturally becomes agile.So here R is the characteristic length of the robot.It's actually half the diameter.And there are lots of physical parameters that change as you reduce R.The one that's the most important is the inertia or the resistance to motion.So it turns out, the inertia, which governs angular motion, scales as a fifth power of R.So the smaller you make R, the more dramatically the inertia reduces.So as a result, the angular acceleration,denoted by Greek letter alpha here, goes as one over R.It's inversely proportional to R.The smaller you make it the more quickly you can turn.So this should be clear in these videos.At the bottom right you see a robot performing a 360 degree flip in less than half a second.Multiple flips, a little more time.So here the processes on board are getting feedback from accelerometers and gyros on board and calculating, like I said before, commands at 600 times a second to stabilize this robot.So on the left, you see Daniel throwing this robot up into the air.And it shows you how robust the control is.No matter how you throw it, the robot recovers and comes back to him.So why build robots like this? Well robots like this have many applications.You can send them inside buildings like this as first responders to look for intruders, maybe look for biochemical leaks, gaseous leaks.You can also use them for applications like construction.So here are robots carrying beams, columns and assembling cube-like structures.I'll tell you a little bit more about this.The robots can be used for transporting cargo.So one of the problems with these small robots is their payload carrying capacity.So you might want to have multiple robots carry payloads.This is a picture of a recent experiment we did--actually not so recent anymore--in Sendai shortly after the earthquake.So robots like this could be sent into collapsed buildings to assess the damage after natural disasters, or sent into reactor buildings to map radiation levels.So one fundamental problem that the robots have to solve if they're to be autonomous is essentially figuring out how to get from point A to point B.So this gets a little challengingbecause the dynamics of this robot are quite complicated.In fact, they live in a 12-dimensional space.So we use a little trick.We take this curved 12-dimensional space and transform it into a flat four-dimensional space.And that four-dimensional space consists of X, Y, Z and then the yaw angle.And so what the robot does is it plans what we call a minimum snap trajectory.So to remind you of physics, you have position, derivative, velocity, then acceleration, and then comes jerk and then comes snap.So this robot minimizes snap.So what that effectively does is produces a smooth and graceful motion.And it does that avoiding obstacles.So these minimum snap trajectories in this flat space are then transformed back into this complicated 12-dimensional space, which the robot must do for control and then execution.So let me show you some examples of what these minimum snap trajectories look like.And in the first video, you'll see the robot going from point A to point B through an intermediate point.So the robot is obviously capable of executing any curve trajectory.So these are circular trajectories where the robot pulls about two G's.Here you have overhead motion capture cameras on the top that tell the robot where it is 100 times a second.It also tells the robot where these obstacles are.And the obstacles can be moving.And here you'll see Daniel throw this hoop into the air, while the robot is calculating the position of the hoopand trying to figure out how to best go through the hoop.So as an academic, we're always trained to be able to jump through hoops to raise funding for our labs, and we get our robots to do that.(Applause)So another thing the robot can do is it remembers pieces of trajectory that it learns or is pre-programmed.So here you see the robot combining a motion that builds up momentumand then changes its orientation and then recovers.So it has to do this because this gap in the window is only slightly larger than the width of the robot.So just like a diver stands on a springboard and then jumps off it to gain momentum, and then does this pirouette, this two and a half somersault through and then gracefully recovers, this robot is basically doing that.So it knows how to combine little bits and pieces of trajectories to do these fairly difficult tasks.So I want change gears.So one of the disadvantages of these small robots is its size.And I told you earlier that we may want to employ lots and lots of robots to overcome the limitations of size.So one difficulty is how do you coordinate lots of these robots? And so here we looked to nature.So I want to show you a clip of Aphaenogaster desert ants in Professor Stephen Pratt's lab carrying an object.So this is actually a piece of fig.Actually you take any object coated with fig juice and the ants will carry them back to the nest.So these ants don't have any central coordinator.They sense their neighbors.There's no explicit communication.But because they sense the neighbors and because they sense the object, they have implicit coordination across the group.So this is the kind of coordination we want our robots to have.So when we have a robotwhich is surrounded by neighbors--and let's look at robot I and robot J--what we want the robots to do is to monitor the separation between them as they fly in formation.And then you want to make sure that this separation is within acceptable levels.So again the robots monitor this error and calculate the control commands 100 times a second, which then translates to the motor commands 600 times a second.So this also has to be done in a decentralized way.Again, if you have lots and lots of robots, it's impossible to coordinate all this information centrally fast enough in order for the robots to accomplish the task.Plus the robots have to base their actions only on local information, what they sense from their neighbors.And then finally, we insist that the robots be agnostic to who their neighbors are.So this is what we call anonymity.So what I want to show you next is a video of 20 of these little robots flying in formation.They're monitoring their neighbors' position.They're maintaining formation.The formations can change.They can be planar formations, they can be three-dimensional formations.As you can see here, they collapse from a three-dimensional formation into planar formation.And to fly through obstacles they can adapt the formations on the fly.So again, these robots come really close together.As you can see in this figure-eight flight, they come within inches of each other.And despite the aerodynamic interactions of these propeller blades, they're able to maintain stable flight.(Applause)So once you know how to fly in formation, you can actually pick up objects cooperatively.So this just shows that we can double, triple, quadruple the robot strength by just getting them to team with neighbors, as you can see here.One of the disadvantages of doing thatis, as you scale things up--so if you have lots of robots carrying the same thing, you're essentially effectively increasing the inertia, and therefore you pay a price;they're not as agile.But you do gain in terms of payload carrying capacity.Another application I want to show you--again, this is in our lab.This is work done by Quentin Lindsey who's a graduate student.So his algorithm essentially tells these robotshow to autonomously build cubic structures from truss-like elements.So his algorithm tells the robot what part to pick up, when and where to place it.So in this video you see--and it's sped up 10, 14 times--you see three different structures being built by these robots.And again, everything is autonomous, and all Quentin has to do is to get them a blueprint of the design that he wants to build.So all these experiments you've seen thus far, all these demonstrations, have been done with the help of motion capture systems.So what happens when you leave your lab and you go outside into the real world? And what if there's no GPS? So this robot is actually equipped with a camera and a laser rangefinder, laser scanner.And it uses these sensorsto build a map of the environment.What that map consists of are features--like doorways, windows, people, furniture--and it then figures out where its position is with respect to the features.So there is no global coordinate system.The coordinate system is defined based on the robot, where it is and what it's looking at.And it navigates with respect to those features.So I want to show you a clip of algorithms developed by Frank Shen and Professor Nathan Michael that shows this robot entering a building for the very first time and creating this map on the fly.So the robot then figures out what the features are.It builds the map.It figures out where it is with respect to the features and then estimates its position 100 times a second allowing us to use the control algorithms that I described to you earlier.So this robot is actually being commanded remotely by Frank.But the robot can also figure outwhere to go on its own.So suppose I were to send this into a building and I had no idea what this building looked like, I can ask this robot to go in, create a map and then come back and tell me what the building looks like.So here, the robot is not only solving the problem, how to go from point A to point B in this map, but it's figuring out what the best point B is at every time.So essentially it knows where to go to look for places that have the least information.And that's how it populates this map.So I want to leave you with one last application.And there are many applications of this technology.I'm a professor, and we're passionate about education.Robots like this can really change the way we do K through 12 education.But we're in Southern California, close to Los Angeles, so I have to conclude with something focused on entertainment.I want to conclude with a music video.I want to introduce the creators, Alex and Daniel, who created this video.(Applause)So before I play this video, I want to tell you that they created it in the last three days after getting a call from Chris.And the robots that play the video are completely autonomous.You will see nine robots play six different instruments.And of course, it's made exclusively for TED 2012.Let's watch.(Music)(Applause)

第二篇：四軸飛行器的特點 材料 制作過程

四軸飛行器的特點： 1.時尚精美、做工精湛Seraphi外觀時尚精美，做工精湛，還擁集成了自身研發(fā)的飛行動力系統(tǒng)，并配置專業(yè)的無線電遙控系統(tǒng)。

2.集成易作、易維護的穩(wěn)定設(shè)計

Seraphi集成易作、易維護的穩(wěn)定設(shè)計，在出廠前已經(jīng)設(shè)置并調(diào)試所有的飛行參數(shù)及功能,具有免安裝、免調(diào)試的快速飛行模式。Seraphi 攜帶方便，可以搭配GoPro或者其它微型相機錄制空中視頻。

3.自由切換多種飛行模式

Seraphi內(nèi)置自身研發(fā)的飛行控制系統(tǒng)，具備多種飛行模式，您可以根據(jù)不同的飛行需要以及不同的飛行環(huán)境進行實時的智能切換以達到不一樣的飛行體驗。

4.方向控制靈活

Seraphi具備自身研發(fā)飛控系統(tǒng)，方向控制靈活。在通常飛行過程中，可以根據(jù)玩家需要，進行靈活縱。

5.具備失控返航

Seraphi具備自身研發(fā)的多旋翼飛控系統(tǒng)的失控返航保護功能。當(dāng)飛行器與遙控器之間失去聯(lián)系時，飛控系統(tǒng)將啟動失控保護功能，自動觸發(fā)自動返航安全著陸功能。

6.醒目LED指示燈

Seraphi的每個旋翼下方都裝有LED燈，通過指示燈的指引，可以清晰 得分辨飛機的前后方向。

7.懸掛微型相機

Seraphi內(nèi)可以裝配攝像頭，同時機身下方有可拆卸簡易相機安裝座，也可以搭配其他視頻拍攝電子設(shè)備。

8.雙電池倉設(shè)置，飛行時間長。

組成部分：

電機電調(diào)接收 飛控機架

1.電機分為有刷電機和無刷電機，無刷是四軸的主流。它力氣大，耐用。2.每個無刷電機都會標(biāo)多少kv值，這個kv是外加1v電壓對應(yīng)的每分鐘空轉(zhuǎn)轉(zhuǎn)速，例如：1000kv電機，外加1v電壓，電機空轉(zhuǎn)時每分鐘轉(zhuǎn)1000轉(zhuǎn)。

3.同樣電池容量鋰電最輕，起飛效率最高。

制作材料與成本控制

1.機架 * 1（程對稱十字的一個架子，淘寶上有賣，也可以自己拿其他材料來做）；電調(diào) * 4（常見有好盈、中特威、新西達等品牌，當(dāng)然有興趣的話也可以自己畫板子）無刷電機 * 4(這個只能買，沒法diy)螺旋槳 * 4（2個正漿，2個反漿）飛控板 * 1（常見有KK、FF、NAZA、玉兔等品牌，四軸的核心部分，資深玩家都會在這個部分下很大工夫）遙控器 * 1（最低四通道遙控器, 有推薦天地飛x什么的，不過這玩意貌似有點貴啊）電池 * 1（11.1v航模動力電池）充電器 * 1(盡量選擇平衡充電器)

應(yīng)該注意的問題

2.怎么配電池？

這與選擇的電機、螺旋槳，想要的飛行時間相關(guān)。

容量越大，c越高，s越多，電池越重；

基本原理是用大槳，因為整體搭配下來功率高，自身升力大，為了保證可玩時間，可選高容量，高c，3s以上電池。最低建議1500mah，20c，3s。

小四軸，因為自身升力有限，整體功率也不高，就可以考慮小容量，小c，3s以下電池。

3.買多大的電調(diào)？

電調(diào)都會標(biāo)上多少A，如20a，40a 這個數(shù)字就是電調(diào)能夠提供的電流。大電流的電調(diào)可以兼容用在小電流的地方。小電流電調(diào)不能超標(biāo)使用。

根據(jù)我簡單測試，常見新西達2212加1045漿最大電機電流有可能達到了5a，為了保險起見，建議這樣配置用30a 或 40a電調(diào)，說買大一點，以后還可以用到其他地方去。4.機架的軸長短有沒有規(guī)定？

理論上講，只要4個螺旋槳不打架就可以了，但要考慮到，螺旋槳之間因為旋轉(zhuǎn)產(chǎn)生的亂流互相影響，建議還是不要太近，否則影響效率

5.電機的型號含義？

經(jīng)常看人說什么2212電機，2018電機等等，到底是什么意思呢？這其實電機的尺寸。不管什么牌子的電機，具體都要對應(yīng)4位這類數(shù)字，其中前面2位是電機轉(zhuǎn)子的直徑，后面2位是電機轉(zhuǎn)子的高度。注意，不是外殼哦。

簡單來說，前面2位越大，電機越肥，后面2位越大，電機越高。又高又大的電機，功率就更大，適合做大四軸。通常2212電機是最常見的配置了

6.為什么需要電調(diào)？

電調(diào)的作用就是將飛控板的控制信號，轉(zhuǎn)變?yōu)殡娏鞯拇笮。钥刂齐姍C的轉(zhuǎn)速。

7．什么是x模式和+模式？

說白了就是飛行器正對著你本人的時候是呈現(xiàn)X形狀還是+形狀，之前有介紹過四軸原理的，前進的時候后面加速前面減速兩側(cè)不變那個是針對+模式的，而如果是X模式的話，前進就需要后面兩個同時加速，前面兩個同時減速了。據(jù)說X模式的穩(wěn)定性比+模式的穩(wěn)定性要高點。

注意：考慮到飛控板上的陀螺儀安裝的是固定的，所以，模式不同的話飛控板的安裝方向也是不同的。

第三篇：關(guān)于四軸飛行器的姿態(tài)動力學(xué)建模

龍源期刊網(wǎng) http://.cn

關(guān)于四軸飛行器的姿態(tài)動力學(xué)建模

作者：鄧矛

來源：《科技創(chuàng)新導(dǎo)報》2012年第09期

摘 要：四軸飛行器是許多航模愛好者的寶貝。四軸飛行器具有可以垂直升降，任意角度移動的靈活特點，并且可以在其機身上搭載不同的器件，譬如攝像頭，或是機械手臂等進行功能拓展。本文嘗試建立四軸飛行器的姿態(tài)動力學(xué)模型，并且從航向動力學(xué)系統(tǒng)及俯仰和滾轉(zhuǎn)動力系統(tǒng)的角度對其做深入分析，希望能為四軸飛行器設(shè)計者提供一個參考。

第四篇：伊麗莎白演講稿中英文對照

Mr.President, Prince Philip and I are delighted to welcome you and Madame Peng to Buckingham Palace this evening.主席先生，菲利普親王和我本人非常高興地歡迎您和您的夫人彭麗媛女士今晚來做客白金漢宮。

Your visit to the United Kingdom marks a milestone in this unprecedented year of co-operation and friendship between the United Kingdom and China, as we celebrate the ties between our two countries and prepare to take them to ambitious new heights.您對英國的訪問，對于今年這一英中兩國合作和友誼的前所未有的年份來說，是一個重要的里程碑。我們要慶祝兩國之間的友好關(guān)系，并要將其推向雄心勃勃的新高度。

The United Kingdom and China have a warm and longstanding friendship.Prince Philip and I recall with great fondness our visit to China almost thirty years ago, where we were privileged to experience your country’s rich history and culture, including the Great Wall, the Forbidden City and the Terracotta Warriors: all unforgettable memories of China’s ancient civilisation.英國和中國之間有著溫暖而長久的友誼。我和菲利普親王經(jīng)常會重溫將近三十年前我們那次訪問中國的美好回憶。我們很榮幸能夠體驗貴國的豐富歷史和文化，長城、故宮和兵馬俑，中國的這些古代文明都給我們留下了難忘的回憶。

Yet it was China’s desire to shape a new future which captivated us the most.We were struck by the energy and enthusiasm with which China’s leaders were forging ahead with a new and ambitious future for the Chinese people;and I well recall our discussions with the late paramount leader Mr.Deng Xiaoping, who was foremost among these leaders in setting a clear direction for China with his policy of reform.It was also Mr.Deng’s visionary concept of One Country Two Systems which opened the way for the return of Hong Kong to Chinese sovereignty under the Sino-British Joint Declaration.中國塑造嶄新未來的愿望，留給我們的印象最為深刻。中國領(lǐng)導(dǎo)人為帶領(lǐng)中國人民走向一個雄心勃勃的新未來所展現(xiàn)的能量和熱情，對我們產(chǎn)生了極大的震動。我清楚地記得我與已故最高領(lǐng)導(dǎo)人鄧小平先生的會晤，鄧先生高瞻遠矚地為中國的改革政策指明了方向。也正是由于鄧小平先生一國兩制的遠見卓識，為在《中英聯(lián)合聲明》下的香港回歸中國主權(quán)開辟了道路。

Almost thirty years later, Mr Deng’s vision has borne remarkable fruit.Rapid economic growth and development has transformed the lives of people across China and lifted hundreds of millions out of poverty: a huge and historic achievement with far reaching positive effects on people’s lives.將近三十年后，鄧先生的愿景已取得了豐碩的成果。中國快速的經(jīng)濟增長和發(fā)展，改變了全體中國人民的生活，使數(shù)億人民擺脫了貧困。這是一個巨大的歷史性成就，對人們的生活產(chǎn)生了深遠的積極影響。

I was delighted that my grandson Prince William was able to witness these changes during his first visit to China earlier this year.Like myself and Prince Philip, he visited not only your great cities of Beijing and Shanghai but also the beautiful province of Yunnan, and saw at first-hand the strong connections which bind our two countries together, be they in culture, education or business.我很高興的是，今年早些時候，我的孫兒——威廉王子——他在第一次訪問中國期間能夠目睹這些變化。與我和菲利普親王一樣，他不僅訪問了中國的偉大城市北京和上海，而且還去了美麗的云南，親身體驗了促進我們兩國關(guān)系緊密發(fā)展的諸多領(lǐng)域，無論是文化、教育，還是商業(yè)領(lǐng)域。

Mr.President, the relationship between the United Kingdom and China is now truly a global partnership.We have much reason to celebrate the dynamic, growing economic relationship between our countries as well as our success in working together to address pressing international challenges.主席先生，英國和中國之間的關(guān)系現(xiàn)在是一個真正的全球伙伴關(guān)系。我們有充分的理由來慶祝兩國之間的活躍和不斷增長的經(jīng)濟關(guān)系，以及我們在共同應(yīng)對緊迫的國際性挑戰(zhàn)方面所取得的成功。

We have, this year, marked the seventieth anniversary of the foundation of the United Nations.Today the world faces challenges which call for collaboration between the nations: conflict and terrorism;poverty and ill-health;conservation and climate change.As permanent members of the United Nations Security Council, Britain and China are stewards of the rules-based international system, and we have a responsibility to cooperate on these issues which have a direct bearing on the security and prosperity of all our peoples.今年是聯(lián)合國成立七十周年。今天世界所面臨的挑戰(zhàn)需要各國之間的協(xié)作來加以應(yīng)對：沖突和恐怖主義、貧困和健康不良、資源保護和氣候變化。作為聯(lián)合國安全理事會的常任理事國，英國和中國都是以規(guī)則為基礎(chǔ)的國際體系的維護者，我們有責(zé)任就這些直接關(guān)系到兩國人民的安全和繁榮的問題攜手合作。

This global partnership is supported by an expanding network of links between the people of our two countries, which are essential in building mutual understanding and friendship, while we welcome the increasing numbers of Chinese tourists, students and business visitors to the United Kingdom.這一全球伙伴關(guān)系是建立在兩國人民之間不斷擴大的聯(lián)系網(wǎng)絡(luò)基礎(chǔ)上的，這種聯(lián)系對于構(gòu)建相互理解和友誼至關(guān)重要。我們歡迎越來越多的中國游客、學(xué)生和商業(yè)訪問者前來英國。

Mr.President, your visit is a defining moment in this very special year for our bilateral relationship.I am confident that it will serve to highlight the sincerity and warmth of our friendship and to strengthen relations between our countries for many years to come.主席先生，對于英中兩國雙邊關(guān)系非常特殊的一年來說，您的訪問是一個決定性的時刻。我相信，這將有助于突顯兩國之間的真誠和溫馨的友誼，加強未來兩國之間的長久友好關(guān)系。

Ladies and Gentlemen, I ask you to rise and drink a toast to the President and Madame Peng and to the people of China.女士們，先生們，我請大家起立，共同舉杯，為習(xí)近平主席和夫人彭麗媛女士的健康、為中國人民的健康與幸福，干杯。

第五篇：演講稿(淺談大學(xué)生活)——中英文對照

淺談大學(xué)生活

大家早上好！很榮幸站在這里與大家分享大學(xué)生活。“人生就像餃子，歲月是皮，經(jīng)歷是餡。酸甜苦辣皆為滋味，毅力和信心正是餃子皮上的褶皺，人生中難免被狠狠擠一下，被開水煮一下，被人咬一下，倘若沒有經(jīng)歷，硬裝成熟，總會有露餡的時候。”這一段話，不是我的原創(chuàng)，是崔永元評論人生的一段話。

有人說：大學(xué)一年級往往“不知道自己不知道”，大學(xué)二年級就進了一步“知道自己不知道”，大學(xué)三年級時“不知道自己知道”，大學(xué)四年級“知道自己知道”。大學(xué)生活總是那么的多姿多彩的，但也需要我們?nèi)グ盐蘸蜕钊塍w會。有人說：平凡的大學(xué)生有著相同的平凡，而不平凡的大學(xué)卻有著各自的輝煌。但是你可以選擇平凡，不可以選擇平庸；相信誰都想不平凡。那么，怎樣才能使自己的大學(xué)生活充實有意義，怎樣主宰自己的大學(xué)生活呢？我隨便談?wù)剛€人的幾點觀點。

首先，要確立目標(biāo)和計劃，古人云“志當(dāng)存高遠”，毛澤東也說“風(fēng)物長宜放眼量”。沒有目標(biāo)便沒有前進的努力方向，也毫無動力可言。計劃目標(biāo)，又可分為近期和遠期。如近期我要看完多少本書，這一個月我要學(xué)懂什么知識，假期有什么實踐報告打算等等。遠期的如：爭取畢業(yè)前拿到自考文憑，人際關(guān)系應(yīng)該多大，實踐能力應(yīng)達到怎樣的程度等。而且，目標(biāo)的實現(xiàn)又是一個個小目標(biāo)實現(xiàn)的連貫過程。如一天記5個單詞，到考前便可記到很多。但是,這需要堅持和毅力。

第二，要放遠眼光，是指不被暫時的情緒和心情所拖所沉溺，要成就大事業(yè)，就必須大事抓緊，小事放松。如，不要被上網(wǎng)玩游戲等所帶來的滿足感所一直沉溺，孰不知，暫時滿足的背后的更大的空虛。相信大家都有這種體會。

第三，是樹立就業(yè)危機感，我們總是在怪自己的控能力不強，沒有上進的動力。誰不知是自己的意識上沒有清醒？有人會說：“愛情是學(xué)習(xí)的動力”或“家境貧

窮的學(xué)習(xí)的動力”等等。其實，從直接意義上來說，就業(yè)危機感才是也應(yīng)該是我們上進的動力。我自己常想自己畢業(yè)以后究竟能干什么？又多從報紙雜志上看到目前就業(yè)形勢的異常嚴(yán)峻，所以心里很是害怕。有人說目前找工作：要么有關(guān)系，要么有文憑，要么有才能（技能）。而我們呢？文憑，只是本科；關(guān)系，相信大部份同學(xué)都沒有什么關(guān)系。所以，我們唯一的出路便是要有才能。而這，就要問問自己：你學(xué)到了什么，你掌握了什么？現(xiàn)在的問題不是我們不知道學(xué)什么，而是我們想不想學(xué)。

第四，是要理論知識與實踐能力相結(jié)合，大學(xué)是一個鍛煉自己能力的舞臺。以前是重知識而輕能力，但現(xiàn)在恰好相反，由于社會上影響，文憑要求的適當(dāng)下降，所以現(xiàn)在的很多大學(xué)生紛紛跑出外面找兼職。如果他們是在不影響學(xué)習(xí)的前提下去的，那沒話說，反而應(yīng)該提倡。但他們有些不是，為了一份端菜的服務(wù)生工作，不惜請假曠課，晚自習(xí)也不上。我身邊就有這樣的現(xiàn)象。現(xiàn)在，出現(xiàn)了這樣一種錯位思潮，就是在職的機關(guān)企業(yè)工作人員，紛紛利用業(yè)余時間“充電”，而在校的大學(xué)生們卻紛紛跑到社會兼職，我覺的應(yīng)該糾正這種思潮。

此外，就是要多看書和報紙雜志，了解最新社會動態(tài)，知曉國家大事，了解第一時間的時政經(jīng)濟新聞等。是的，這不僅對我們以后找工作有幫助，而且對我們的生活也有幫助。

好了，我今天的演講也到此為止了。最后，送上一句話： “路漫漫其修遠兮，吾將上下而求索。”送給我自己，也與大家共勉！

On the college life

Good morning, everyone!I'm honored to stand here to share with college life.“Life is like dumplings, years of skin, the experience of stuffing.Ups and downs

all the taste, perseverance and confidence is the dumpling skin folds, life is bound to be severely squeezed, is open to boil, bite, if not experienced,hard-loaded mature, there is always revealed the secret of time.”This passage is not my original cui commented on the life period of Some people say: the first year in college often do not know they do not know, “the sophomore into the step,” I know they do not know “,” do not know know.“Junior, senior at the University” know “.University life is always so colorful, but we need to hold and in-depth experience.Some say: that the ordinary college students have the same ordinary, rather than ordinary universities have their own brilliant.But you can choose ordinary, can not choose the mediocre;believe everyone does not want ordinary.So, how to make their college life fulfilling meaningful and how to master their own college life? I casually talk about some perspective of the individual.First, to establish goals and plans, an ancient saying goes, ”to keep the lofty“, Mao Zedong said that ”always advisable to wait the amount.Target forwarddirection, no power at all.Program objectives can be divided into short and long term.Such as the recent reading many books this month, I want to learn what knowledge, leave what practice report is intended to, and so on.Forward, such as: the fight for graduation to get the Self diploma, interpersonal

relationships should be much practical ability to achieve what extent.Moreover, the goal is a small target to achieve the continuity of the process.Such as a day to remember the five words to the exam can be credited to many.Howeverthis need to adhere to and perseverance.To put far vision refers to the temporary emotions and mood drag are addicted to big business success, it must be big pay close attention to minor relaxation.For example, do not be the satisfaction that comes of playing online games has been addicted to, everyone knows, temporarily to meet the greater emptiness behind.I believe we have this experience.Third, establish a sense of the employment crisis, we always blame their own ability to control, there is no upward mobility power.I do not know who is no sober on their own consciousness? Some people will say: “Love is the

motivation to learn,” or “the family was poor motivation to learn and so on.In fact, from the direct sense, employment, a sense of crisis is also to be the

driving force of our progress.I often want to own graduation, what can you do? The addition of newspapers and magazines to see the current employment situation is extremely severe, so I was very afraid.Some people say that looking for work: either the relationship or diploma, or talent(skills).And we? Diploma, undergraduate only;relationship, I believe the majority of students do not have anything to do with.Therefore, our only way out is to have talent.This, we must ask ourselves: What have you learned, what you have mastered? The question now is not that we do not know what to learn, but we want to learn.Fourth, the combination of theoretical knowledge and practical ability, the University is to stage an exercise in their own ability.Before the weight of

knowledge and light capabilities, but the contrary, appropriate decline of influence in society, diploma requirements, so many college students now have ran out to find part-time.If they are down does not affect the learning of the premise, that none, but should be promoted.But they do not, for a serve later the waiter not hesitate to leave absenteeism, going to night classes nor To me there is such a phenomenon.Now, such a misplaced thought, is

working bodies corporate staff have spare time to ”recharge“, but have went to the social part-time college students in the school, I think this trend of thought should be corrected.In addition to reading books, newspapers and magazines, the latest social dynamics, aware of national affairs, and understand the first time current

affairs news.Yes, this is not only our future to find a job help, but on our lives.Well, my speech today stop here.Finally, send the word: ”the road is long and far Come, Wu Jiang from top to bottom." To give my own, but also to encourage one another!