四旋翼飞行器姿态控制自制教学设备  

Self-made Teaching Device of Attitude Control for Quad-rotor Flight Vehicle

作　　者：方可[1] 霍炬[1] 赵志衡[1] 晁涛[1] FANG Ke;HUO Ju;ZHAO Zhiheng;CHAO Tao(Control&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,哈尔滨150080

出　　处：《实验科学与技术》2022年第2期127-132,137,共7页Experiment Science and Technology

基　　金：哈尔滨工业大学自制教学设备研究项目(ZZSB-2019-18);黑龙江省规划办“大疫对教育反思”教学专项课题(2020);黑龙江省教育科学规划重点课题(GJB1422054)。

摘　　要：四旋翼飞行器是一个热点研究对象,在自动控制原理教学中可起到良好的范例作用。为完成四旋翼飞行器的飞控系统教学,设计并开发了一种三自由度姿态控制自制教学设备,实现了基于串级PID的三通道线性叠加控制。设备基于STM32单片机开发,允许学生编制及嵌入自己的控制律程序,并加载在系统中进行实际验证。经过在本科生创新研修课中的推广使用,该设备获得了优良的教学效果。Quad-rotor flight vehicle is a research hotspot,so it can be a good example in the teaching of the automation control theory.In order to complete the teaching plan of flight control system of the quad-rotor flight vehicle,a self-made teaching device of 3-DOF(degree of freedom)attitude control is designed and developed,and the 3-channel linear overlay control of cascade PID is realized.The device is based on STM32 MCU(Micro Controller Unit),which allows the students to program their own control laws and embed them into the system,and run the laws in the system for verification.After the promotion to the innovation study course for undergraduate students,the device has received satisfying comments.

关 键 词：四旋翼飞行器 三自由度姿态控制 自制教学设备 串级PID STM32 

分 类 号：TH166[机械工程—机械制造及自动化]