摘要
为了让本科生充分理解和掌握知识,直观地感受自己设计的控制律在实物上运作的效果,以及完成在飞行测试之前的地面实验,开发了一套基于双旋翼天平的多旋翼飞行器控制系统的实验平台,解决了倾角识别、电机调速、控制律验证等方面的问题,采用基于Mega8L单片机、SCA60C倾角传感器、2212无刷马达以及PID控制律的系统架构,保证了系统具有良好的实时性和稳定性。
For allowing the undergraduates to understand and grasp knowledge better,visually feel the actual running effect of their own designed control law,and accomplish ground test before flying,an experimental platform based on bi-rotor level is developed.The platform solves leaning angle recognition,motor speed regulation,control law verification,etc.,and applies the structure composed of Mega8 L micro computing unit,SCA60 Cangle sensor,2212 brushless motor,and PID control law,which guarantees an acceptable realtime figure and stability of the system.
出处
《实验技术与管理》
CAS
北大核心
2017年第2期127-131,169,共6页
Experimental Technology and Management
基金
国家自然科学基金项目(61374164)
关键词
多旋翼飞行器
双旋翼天平
控制系统
实验平台
multi-rotor flying vehicle
bi-rotor level
control system
experimental platform
