摘要
设计了一种以四旋翼飞行器作为实验对象的综合性实验教学平台。通过陀螺仪、电子罗盘、气压计、超声波等实现位姿的测量实验;采用基于ARM架构的STM32F407VGT6为控制器,经电子调速器控制四旋翼飞行器的4个无刷直流电机,可实现PID算法实验;采用图形化界面对系统参数进行了整定,通过无线方式与上位机间的通信,测试了四旋翼飞行器的飞行姿态与传感器参数特性。实验结果表明,该实验平台运行稳定可靠,适合学生做测控类综合实训。
A comprehensive experimental teaching platform with the four-axis vehicle as the experimental object is designed. The measurement of the position and pose is realized by the gyroscope, electronic compass, barometer and ultrasonic wave. By using STM32 F407 VGT6 based on ARM architecture as the controller, the experiment of PID algorithm can be realized by controlling the four brushless DC motors of the quadrotor aircraft. The system parameters are adjusted by graphical interface, and the flight attitude and sensor parameters of quadrotor aircraft are tested by the wireless communication with the upper computer. The experimental results show that the experimental platform is stable and reliable, and it is suitable for students to do comprehensive training of measurement and control.
作者
王峰
邵晓根
张旭隆
韩成春
WANG Feng;SHAO Xiaogen;ZHANG Xulong;HAN Chengchun(School of Information and Electrical Engineering,Xuzhou University of Technology,Xuzhou 221018,China;Academic Affairs Office,Xuzhou University of Technology,Xuzhou 221018,China)
出处
《实验技术与管理》
CAS
北大核心
2020年第3期200-203,206,共5页
Experimental Technology and Management
基金
江苏省产学研合作项目(BY2018079)
徐州工程学院教研课题(YGJ1917)。
关键词
四旋翼飞行器
综合实训
教学平台
quadrotor aircraft
comprehensive training
teaching platform
