单自由度双旋翼天平自制教学设备  

Development of self-made teaching equipment for single DOF dual rotor balance

作　　者：方可[1] 霍炬[1] 赵志衡[1] 晁涛[1] FANG Ke;HUO Ju;ZHAO Zhiheng;CHAO Tao(Control and Simulation Center,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080

出　　处：《实验技术与管理》2020年第11期98-102,共5页Experimental Technology and Management

基　　金：哈尔滨工业大学自制教学设备研究项目(ZZSB-2019-18);2020年黑龙江省规划办“大疫对教育反思”教学专项课题“自动控制专业的远程实验方法及设备研究”(黑教科规办〔2020〕2号)。

摘　　要：为了使本科生形象地理解和掌握自动控制原理的理论知识,安全高效地完成多旋翼无人机飞行控制系统实验,设计了一套单自由度绕质心运动的双旋翼天平自制教学设备,实现了基于串级PID的天平自稳定控制。设备基于ARM架构的STM32单片机开发,可方便地开放源码给学生编制自己的控制律,并在双旋翼天平系统中进行验证。设备全部使用工业化设计,并提供了丰富的外部编程端口。In order to make undergraduates understand and master the theoretical knowledge of automatic control principle, and complete the flight control system experiment of multi rotor unmanned aerial vehicle(UAV) safely and efficiently, a set of self-made teaching equipment of dual rotor balance with single degree of freedom(DOF) moving around the center of mass is designed, and the balance self-stability control based on cascade PID is realized. The equipment is based on the development of STM32 MCU with ARM architecture, can easily open source for students to develop their own control law, and carry out the verification in the dual rotor balance system. The equipment is designed completely with industrialization and can provide abundant external programming ports.

关 键 词：双旋翼天平 自动控制 多旋翼无人机 串级PID STM32 

分 类 号：TH166[机械工程—机械制造及自动化]