可变桨距四旋翼飞行器姿态控制教学设备OACSTPCD

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.