摘要近年来,四旋翼飞行器在军事和民用领域的使用越来越广泛.微型四旋翼飞行器能够实现垂直起降、自由悬停等功能.但是四旋翼飞行器具有欠驱动、强耦合、非线性、多变量和干扰敏感等特性,为飞行器的设计和控制带来困难.本论文采用 ARM 架构的主控芯片,设计制作了一个四旋翼飞行器的控制实验平台.介绍了在构建四旋翼飞行器实验平台的过程中遇到的难题,并提供了相应的解决办法.
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