X -Original TEAMRC yuntai motopaika kounga, pono

Ko te matua o te yuntai maataki ko te tuku i ia motuka tuaka te whakaputa i te hurihuri e tika ana ki runga, te motuka yuntai, hei whakatiki i te whanaunga ki te papaa pumau i runga i te ahunga o te neke. Na mo taua tauira whakahaere, ko te whakaurunga ko te waiaro papaa ake e pa ana ki te anga o waho o te tohutoro (General is gravity) Hurihia, ko te whakaputa motuka mana (Control platform attitude change). Mo nga take utu,

ka taea hoki e te encoder Koki te (Whakauru mo nga huringa i te Koki o ia tuaka whakarunga, he rite tonu te koki euler), engari he utu nui ake, he rahi te rahi. Inaianei kua mohio koe ki te ahanoa mana me te urupare, ko te mahi ka whai ake ma te algorithm mana, penei i te mana pid-cloop control. Hei whakatutuki i te pumau, te ngawari ki te tiki, me whiwhi tatou i te turanga pumau o te huringa o te ahua o te taumahatanga me etahi atu; Maukati & puta noa; Ki te kore, na ko te ahanoa o te katinga katinga he tino rerekee te ahua o te turanga i roto i te rereketanga o te ahunga o te kaha o te taha Hapa (Ka taea te tirohanga, kaore hoki e taea te Koki, te pangarau o te tikanga tukatuka raraunga o te tuunga o te tuunga he quaternion, dongguan dc brushless motor, te ahunga cosine matrix, koki euler me era atu, tirohanga, te mauri he ahua rite tonu. i runga i te turanga yuntai tuwhera mo te wa roa, kei te tino whakamahi i te waa whakatikatika i te ahunga kaha, karohia te kaha o te kaha ki runga i te accelerometer me te gyroscope. Ko te tino marama, mo te tuaka kotahi (X/y/z tuaka), te whakamahi i te pid oti te ahanoa whakahaere kati-koropiko ko: te Putanga = Kp * Hapa + Ki * & sum; Ko te Hapa + Kd * dError/dt etahi atu tuaka e rua i te ara ano.

i roto i te whānui ko te Putanga ki te PWM motopaika (Whakatikahia te tere motoka whakahaere autaki i te taipana putanga), ki te whai koe i te motopaika paraihe me te mana maramara atekōkiri motopaika, kua wehea e te rorohiko a tae noa ki tenei wa (Engari ko te kupu o te brushless kihai i mahi!). Ara ki te toru-waahanga hiko iahiko, MCU brushless motor, te parau tumu o te kawana hiko. Me kii noa, he maha nga waahanga taraiwa motopaika kore, ka whakakiia nga rua a muri ake nei. Ina tae mai ki tenei taahiraa i roto i te meka kua tino kore whakaaro, yuntai tenei momo mea ehara i te mea tino uaua.