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PWM signal generation for a quad-rotor with variable geometry arms

机译：具有可变几何臂的四轮转子的PWM信号产生

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摘要

This paper presents a methodology to transform two PWM signals into four is presented to generate the motion of the arms of a quadcopter having a variable frame geometry. Each arm can rotate around each axis by arms' actuators. The four angles describing the angular position of the arms have been introduced. Based on the different geometric configurations of arms, the pitch and roll rotation of the quadcopter is developed. The algorithm that characterizes the control's logic is based on few assumptions derived from the structure of the joystick's motion and the maximum PWM width that each servo can develop corresponding to the maximum rotation of the arm. A specific geometric constraint is introduced so that all possible values of two combined PWM signals can be transformed that do not violate the maximum amount of PWM signal directed to the servo. The experimental validation is built up by using a commercial hardware characterized by four servos, a rotary encoder, one control board and an oscilloscope to validate the generated signal developed by the mathematical algorithm installed on the control board.
机译：本文提出了一种方法来将两个PWM信号转换为四个，以产生具有可变框几何形状的Quadcopter的臂的运动。每个臂可以通过臂的致动器绕每个轴旋转。已经引入了描述臂的角度位置的四个角度。基于武器的不同几何配置，开发了Quadcopter的桨距和滚动旋转。表征控制逻辑的算法基于从操纵杆运动的结构和每个伺服的最大PWM宽度导出的少数假设，每个伺服可以对应于臂的最大旋转。介绍了特定的几何约束，使得可以改变两个组合的PWM信号的所有可能值，其不会违反所指向伺服的最大PWM信号量。通过使用四个伺服，旋转编码器，一个控制板和示波器的商业硬件，建立了实验验证，以验证由安装在控制板上安装的数学算法开发的所生成的信号。

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