【摘要】 设计和制造一款使用两舵机驱动的扑翼飞行器，该扑翼飞行器采用柔性翼设计且整体结构简单，通过控制舵机实现对飞行器的自主控制，并设计基于STM32F411VGT6微控制器的硬件系统。在硬件基础上，基于四元数方法求解出扑翼机的姿态角，设计了基于模糊PID的软件控制系统。最后，经过后续的室外飞行试验，确定了飞行器的可适用性，为后期的研究提供基准。更多还原

【Abstract】 This paper designs and manufactures a flapping wing flying machine driven by two rudder, which adopts adopts flexible wing design, the autonomous control of the flying machine is realized by controlling the rudder, the overall structure of the flying machine is simple. The hardware system is designed based on the STM32F411VGT6 microcontroller. Based on the hardware and quaternion method, the attitude angle of the flapping wing flying machine is solved, a software control system based on fuzzy PID is designed. Finally, after the subsequent outdoor flight tests, the applicability of the aircraft is determined, which provides a benchmark for the later research.更多还原