基于stm32单片机的四轴飞行器控制技术的研究-控制工程专业论文

2PIDcontrolmethod?.505.2nledesignofthefourrotoraircraftattitudecontroller一525.2.1Twooptimallinearquadraticperformanceindexcontrol.525.2.2Calmanfilterdesign?545.2.3Looptransferrecovery?一545.3Simulationresultsandanalysis?..55VII万方数据安徽理工大学硕士学位论文5.4PIDattitudecontrol?..585.5Summary?.?..596Experimentalresultsandanalysis?..616.1Fourrotoraircraftattitudecontrolexperiment?616.1.1Programmingcontroller?616.1.2Attitudetrackingexperiment?.?.636.2Summary?6zI7SummaryandProspect?.61;7.1Summary?.........?....?..?...?.?.....?..?....61;7.2Expectation.....................65Reference.........................67Thank........................................................................................................................................i7】【nlemainresearchresultsofauthorandGraduateSchool.73VIII万方数据