【摘要】 针对传统四旋翼飞行器为固定桨距变转速的控制方式，在实际教学中存在非线性、响应慢等问题，给学生完成控制实验带来困难。为达到更好的教学效果，设计与开发一个可变桨距四旋翼飞行器的姿态控制设备，实现了定转速变桨距的控制方式，并完成了基于串级PID的控制律设计与代码实现。设备搭载280级四旋翼，使用基于STM32单片机自行开发的飞行控制器，允许学生编程及嵌入自己的控制律。设备在自动控制专业本科生选修课中进行了应用，获得了理想的教学效果。更多还原

【Abstract】 In order to improve the non-linear and slow response of traditional quad-rotor flight vehicles featured with fixed pitch and speed control in practical teaching and overcome the difficulties in control experiments by students for better teaching effects, an attitude control equipment of pitch variable quad-rotor flight vehicle is designed and developed, which implements fixed speed and pitch variable control and completes the control law design and code implementation based on cascade PID. The equipment carries a 280-class quad-rotor, and uses self-made flight controller based on STM32 micro controller unit, which allows students to program and embed their own control law. The equipment has been applicated in the optional course of automation control subject for undergraduate students, and has achieved ideal teaching effects.更多还原