机械制造与自动化2024，Vol.53Issue(4)：224-229,6.DOI:10.19344/j.cnki.issn1671-5276.2024.04.043
可变桨距四旋翼飞行器姿态控制教学设备
Teaching Equipment of Attitude Control for Pitch Variable Quad-rotor Flight Vehicle
摘要
Abstract
In order to improve the non-linear and slow response of traditional quad-rotor flight vehicles featured with fixed pitch and speed control in practical teaching and overcome the difficulties in control experiments by students for better teaching effects,an attitude control equipment of pitch variable quad-rotor flight vehicle is designed and developed,which implements fixed speed and pitch variable control and completes the control law design and code implementation based on cascade PID.The equipment carries a 280-class quad-rotor,and uses self-made flight controller based on STM32 micro controller unit,which allows students to program and embed their own control law.The equipment has been applicated in the optional course of automation control subject for undergraduate students,and has achieved ideal teaching effects.关键词
四旋翼飞行器/可变桨距/姿态控制设备/串级PID/STM32Key words
quad-rotor flight vehicle/pitch variable/attitude control equipment/cascade PID/STM32分类
机械制造引用本文复制引用
方可,霍炬,杨明,晁涛..可变桨距四旋翼飞行器姿态控制教学设备[J].机械制造与自动化,2024,53(4):224-229,6.基金项目
2021年黑龙江省教育科学规划重点课题项目(GJB1422054) （GJB1422054）
哈尔滨工业大学自制教学设备研究项目(213403) （213403）
