设计了一种四旋翼飞行器的实验系统.电机调速器运用检测反电动势的方法控制三相全桥逆变电路从而调节无刷直流电机的转速.以ARM处理器为主控制器对电机调速器进行控制,从而实现飞行器的平衡和姿态控制.通过四旋翼工作模式的研究,利用加速度传感器和陀螺仪数据进行控制算法设计与研究,实现四旋翼飞行器姿态的控制调节.开发了仿真调试软件系统实时监测传感器的数据和控制量.实验表明,通过合适的控制算法可以四旋翼飞行器的平衡性能和各种飞行姿态,从而为学生提供了新的仿真和实践平台,有利于创新型实验教学任务的顺利开展.%A four-rotor aircraft experimental system was designed. The method of detecting back EMF was used in the motor governor to control the three-phase full-bridge inverter circuit so as to adjust the rotation speed of the brushless DC motor. Besides, the ARM processor was used as the main controller to control the motor speed and the acceleration transducer and gyroscope data were used to achieve the balance and attitude control of the aircraft. In order to make students beter understand the control algorithm, a simulation system for debugging software real-time system was designed to monitor the sensor data and control volume. Experiments show that the appropriate control algorithm can adjust the flying attitude of the four-rotor aircraft, thus providing a new simulation and practice platform for students. The four-rotor aircraft is conducive to innovation experimental teaching.
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