才.rar_四旋翼飞行器_系统设计方案下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/62572e13bd8c6f2306b997cb/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62572e13bd8c6f2306b997cb/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"><span class="fc1 sc0">硕士学位论文</span></div><div class="t m1 x2 h3 y2 ff1 fs1 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器姿态控制系统的设计与实现</span></div><div class="t m2 x3 h4 y3 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｄｅｓｉｇｎ</span></div><div class="t m3 x4 h4 y4 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m4 x5 h4 y3 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｉｍｐｌｅｍｅｎｔａｔｉｏｎ</span></div><div class="t m5 x6 h4 y5 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span><span class="_ _0"> </span><span class="fc1 sc0">Ａｔｔｉｔｕｄｅ</span></div><div class="t m6 x7 h4 y5 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃｏｎｔｒｏｌ</span></div><div class="t m7 x8 h4 y6 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｓｙｓｔｅｍ</span></div><div class="t m8 x9 h4 y7 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｒ</span></div><div class="t m9 xa h4 y7 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａ</span></div><div class="t ma xb h5 y8 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t mb xc h4 y9 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ</span></div><div class="t mc xd h6 ya ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">学</span></div><div class="t md xe h7 yb ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２１００９１３４</span></div><div class="t me xd h5 yc ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">完成日期：</span></div><div class="t mf xf h5 yc ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">星Ｑ！墨塑墨二Ｑ曼</span></div><div class="t m10 x10 h8 yd ff1 fs6 fc0 sc0 ls0 ws0"><span class="fc1 sc0">大连理工大学</span></div><div class="t m6 x11 h9 ye ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｄａｌｉａｎ</span></div><div class="t m11 x12 ha yf ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｕｎｉｖｅｒｓｉｔｙ</span></div><div class="t m6 xf h9 ye ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m3 x13 h9 yf ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｔｅｃｈｎｏｌｏｇｙ</span></div></div><div class="pi" data-data='{"ctm":[1.851296,0.000000,0.000000,1.851296,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62572e13bd8c6f2306b997cb/bg2.jpg"><div class="t m12 x14 hb y10 ff1 fs9 fc0 sc0 ls0 ws0"><span class="fc1 sc0">大连理工大学学位论文独创性声明</span></div><div class="t m13 x15 h5 y11 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">作者郑重声明：所呈交的学位论文，是本人在导师的指导下进行研究</span></div><div class="t m14 x16 h5 y12 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">工作所取得的成果。尽我所知，除文中已经注明引用内容和致谢的地方外，</span></div><div class="t m15 x16 h5 y13 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">本论文不包含其他个人或集体已经发表的研究成果，也不包含其他已申请</span></div><div class="t m15 x17 h5 y14 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">学位或其他用途使用过的成果。与我一同工作的同志对本研究所做的贡献</span></div><div class="t m16 x16 h5 y15 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">均已在论文中做了明确的说明并表示了谢意。</span></div><div class="t m16 x15 h5 y16 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">若有不实之处，本人愿意承担相关法律责任。</span></div><div class="t m17 x18 h6 y17 ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">学位论文题目：</span></div><div class="t m18 x19 hc y17 ff1 fsa fc0 sc0 ls0 ws0"><span class="fc1 sc0">婴旋翼３盈墨姿查控剑丕统鲍遮盐皇塞垫</span></div><div class="t m19 x1a h6 y18 ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">作者签名：</span></div><div class="t m1a x1b hd y19 ff1 fsb fc0 sc0 ls0 ws0"><span class="fc1 sc0">邀ｊ起</span></div><div class="t m1b x1c h6 y1a ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">日期：</span></div><div class="t m1c x1d he y18 ff1 fsc fc0 sc0 ls0 ws0"><span class="fc1 sc0">竺鳖年—厶月ｉ日</span></div></div><div class="pi" data-data='{"ctm":[1.851296,0.000000,0.000000,1.851296,0.000000,0.000000]}'></div></div>

<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62572e13bd8c6f2306b997cb/bg3.jpg"><div class="t m1d x1e ha y1b ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">大连理工大学硕士学位论文</span></div><div class="t m1e x1f h5 y1c ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">摘</span></div><div class="t mc xf h5 y1c ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">要</span></div><div class="t m1f x20 h4 y1d ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">直流电机驱动的四旋翼飞行器具有四个对称分布的螺旋桨，其结构简单，控制灵活，</span></div><div class="t m20 x16 h4 y1e ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">在民用、警用、军事和科研领域都有着广阔的应用前景。由于该系统显著的非线性、欠</span></div><div class="t m21 x16 h7 y1f ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">驱动特性，使其控制具有难点。本文主要研究了四旋翼飞行器的姿态稳定性控制问题。</span></div><div class="t m22 x20 h4 y20 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">针对四旋翼飞行器的姿态稳定性控制问题，根据牛顿第二定律和欧拉方程建立了运</span></div><div class="t m20 x16 h4 y21 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">动学模型，并针对姿态控制问题进行简化。对四旋翼飞行器的姿态使用四元数表示，采</span></div><div class="t m20 x16 h4 y22 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">用了一种基于梯度下降法的姿态检测算法对传感器数据进行融合。根据四旋翼飞行器的</span></div><div class="t m23 x16 h4 y23 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">简化模型，将姿态控制分解为三个角度的单独控制，分别采用串级ＰＩＤ控制器对飞行器</span></div><div class="t m24 x16 h7 y24 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">姿态的三个欧拉角进行控制。仿真结果验证了所提方法的可行性。</span></div><div class="t m25 x20 h7 y25 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">提出了四旋翼飞行器的系统设计方案，设计了四旋翼飞行器的机械结构，对其进行</span></div><div class="t m26 x17 h4 y26 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">了模块化设计，按照功能分别设计了姿态检测单元、姿态控制单元和执行单元三个模块。</span></div><div class="t m20 x16 h4 y27 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">参考国际上四旋翼开源项目，进行了硬件选型、电路设计与制作、软件代码的编写及调</span></div><div class="t m27 x16 h4 y28 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">试。通过采用飞行姿态测量模块与姿态控制模块的分离式设计，使飞行器具有２４０Ｈｚ</span></div><div class="t m28 x16 h7 y29 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">的姿态控制频率，对软硬件进行的测试表明，各个模块工作性能良好，能够满足系统控</span></div><div class="t m29 x16 h7 y2a ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">制算法的实时性要求。</span></div><div class="t m2a x20 h4 y2b ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">为了满足实验中在线调整参数的需求，自主研发了界面友好的控制算法调试系统，</span></div><div class="t m2b x16 h4 y2c ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">对自主研发的ＳｍａｒｔＱＴ四旋翼飞行器进行了飞行控制实验。实验结果表明，本文所提控</span></div><div class="t m2c x16 h4 y2d ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">制算法能够有效地对四旋翼飞行器姿态进行稳定性控制。</span></div><div class="t m2d x21 h4 y2e ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">关键词：四旋翼飞行器；姿态检测；飞行姿态控制；串级ＰＩＤ；动力学模型</span></div></div><div class="pi" data-data='{"ctm":[1.851296,0.000000,0.000000,1.851296,0.000000,0.000000]}'></div></div>

<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62572e13bd8c6f2306b997cb/bg4.jpg"><div class="t m2e x22 h7 y2f ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器的姿态控制系统设计与实现</span></div><div class="t m2f x23 h7 y30 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｄｅｓｉｇｎ</span></div><div class="t m30 x24 h7 y31 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m31 x25 h7 y30 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｉｍｐｌｅｍｅｎｔａｔｉｏｎ</span></div><div class="t m7 x26 h7 y32 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m32 x27 h7 y32 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａｔｔｉｔｕｄｅ</span></div><div class="t m33 x28 h7 y32 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃｏｎｔｒｏｌ</span></div><div class="t m2f x29 h7 y30 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｓｙｓｔｅｍ</span></div><div class="t m34 x2a h7 y32 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｒ</span></div><div class="t m35 x2b h7 y32 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａ</span></div><div class="t m36 x2c h5 y33 ff1 fs3 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m37 x2d h7 y34 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ</span></div><div class="t m38 x2e h4 y35 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａｂｓｔｒａｃｔ</span></div><div class="t m11 x2f h7 y36 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m39 x30 h9 y37 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ</span></div><div class="t m3a x31 h9 y37 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｒｉｖｅｎ</span></div><div class="t m3b x32 h9 y36 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｂｙ</span></div><div class="t m33 x33 h9 y37 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｂｌｕｓｈｌｅｓｓ</span></div><div class="t m3c x34 h9 y37 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＤＣ</span></div><div class="t m3d x35 ha y37 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｍｏｔｏｒ</span></div><div class="t m3e x36 h9 y37 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｈａｖｅ</span></div><div class="t m3f x37 h9 y38 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｕｒ</span></div><div class="t m40 x38 h9 y37 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｉｒｓｃｒｅｗ</span></div><div class="t m41 x39 ha y36 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｙｍｍｅｔｒｉｃ</span></div><div class="t m2a x3a h9 y39 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｉｓｔｒｉｂｕｔｅｄ，</span></div><div class="t m42 x3b h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｔ</span></div><div class="t m3d x3c h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｈａｓ</span></div><div class="t m6 x3d h9 y6 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｉｍｐｌｅ</span></div><div class="t m7 x3e hf y5 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｔｒｕｃｔｕｒｅ</span></div><div class="t m3 xd h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m43 x3f h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｌｅｘｉｂｌｅ</span></div><div class="t m44 x40 h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒ０１．Ｉｔ</span></div><div class="t m1d x41 ha y5 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｈａｓ</span></div><div class="t m3c x42 h10 y5 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａ</span></div><div class="t m45 x43 h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｂｒｏａｄ</span></div><div class="t m46 x44 h9 y6 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｐｐｌｉｃａｔｉｏｎ</span></div><div class="t m40 x29 h9 y6 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｓｐｅｃｔ</span></div><div class="t mc x45 h9 y5 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｎ</span></div><div class="t m47 x46 h9 y6 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｉｖｉｌ，ｐｏｌｉｃｅ，</span></div><div class="t m48 x3b h9 y3a ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｉｌｉｔａｒｙ</span></div><div class="t m49 x47 h7 y3b ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m4a x48 h9 y3b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｃｉｅｎｔｉｆｉｃ</span></div><div class="t m4b xd h9 y3b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒｅｓｅａｒｃｈ．Ｔｈｅ</span></div><div class="t m1d x49 ha y3b ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｎｏｎｌｉｎｅａｒ</span></div><div class="t m49 x4a h7 y3b ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m4c x2d h9 y3b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｕｎｄｅｒ－ａｃｔｕａｔｅｄ</span></div><div class="t m32 x1d h9 y3b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｅａｔｕｒｅ</span></div><div class="t m6 x4b h9 y3b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m11 x4c h7 y3a ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m39 x4d h9 y3b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ</span></div><div class="t m4d x3b h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｓ</span></div><div class="t m4a x4e h9 y3d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｉｆｆｉｃｕｌｔｙ</span></div><div class="t mc x4f h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｎ</span></div><div class="t m4b x50 h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒ０１．Ｔｈｉｓ</span></div><div class="t m45 x51 h9 y3e ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐａｐｅｒ</span></div><div class="t m32 x52 h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｔｕｄｉｅｓ</span></div><div class="t m5 x53 h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m4e x54 ha y3c ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m4f x55 h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m50 x56 h9 y3d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｂｌｅｍ</span></div><div class="t m5 x57 h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｒ</span></div><div class="t m3c x58 h10 y3c ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａ</span></div><div class="t m11 x59 h7 y3d ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m51 x5a h9 y3c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ．</span></div><div class="t m52 x2f ha y3f ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｅｓｔａｂｌｉｓｈｉｎｇ</span></div><div class="t m38 x5b ha y40 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍａｔｈｍａｔｉｃｌ</span></div><div class="t m3d x22 ha y40 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｏｄｅｌ</span></div><div class="t m53 x2c ha y3f ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｃｃｏｒｄｉｎｇ</span></div><div class="t m54 x5c h9 y40 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｏＮｅｗｔｏｎ’Ｓ</span></div><div class="t m7 x56 h9 y40 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｅｃｏｎｄ</span></div><div class="t m55 x5d h9 y40 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｌｏｗ</span></div><div class="t m49 x5e h7 y40 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m56 x5f h9 y40 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｅｕｌｅｒ</span></div><div class="t m4a x9 h9 y3f ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｅｑｕａｔｉｏｎ，</span></div><div class="t m49 x3b h7 y41 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m3f x2f h9 y42 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｉｍｐｌｉｆｙ</span></div><div class="t mc x60 ha y41 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3d x5b ha y41 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｏｄｅｌ</span></div><div class="t m57 x61 ha y43 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｂａｓｉｎｇ</span></div><div class="t m3c x62 h10 y41 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｎ</span></div><div class="t mc x63 ha y41 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m58 x64 ha y41 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m4f x65 h9 y41 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m32 x66 ha y42 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｂｌｅｍ．Ｒｅｐｒｅｓｅｎｔ</span></div><div class="t mc x45 ha y41 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m48 x67 h9 y41 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒｏｔａｔｉｏｎ</span></div><div class="t m6 x68 h9 y41 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m59 x3b h4 y44 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m39 x69 h9 y25 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ</span></div><div class="t m56 x4 h9 y44 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｕｓｉｎｇ</span></div><div class="t m5a x6a h7 y44 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｑｕａｔｅｍｉｏｎ，ａｎｄ</span></div><div class="t m3f x6b h9 y25 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｕｓｅ</span></div><div class="t mc x54 ha y25 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m5b x6c h10 y25 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｅｎｅｒ</span></div><div class="t m40 x6d ha y25 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｅａｓｕｒｅｍｅｎｔ</span></div><div class="t m3b x29 h9 y44 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｂｙ</span></div><div class="t m3c x6e h10 y25 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａ</span></div><div class="t m4e x6f ha y25 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m5c x3a h7 y44 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｍｅａｓｕｒｉｎｇ</span></div><div class="t m5d x3b ha y26 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｌｇｏｒｉｔｈｍ．Ａｃｃｏｒｄｉｎｇ</span></div><div class="t m32 xd hf y45 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｏ</span></div><div class="t mc x1b ha y45 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m5c x70 ha y26 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｉｍｐｌｉｆｙｅｄ</span></div><div class="t m5e x53 h9 y45 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｏｄｅｌ</span></div><div class="t m6 x71 h9 y45 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m5f xf h4 y46 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m60 x38 h9 y46 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ，ｄｉｓｐａｔｃｈ</span></div><div class="t mc x72 ha y45 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m58 x73 ha y45 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m32 x68 hf y45 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｏ</span></div><div class="t m61 x3b h9 y47 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｒｅｅ</span></div><div class="t m62 x20 h9 y48 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｅｐａｒａｔｅ</span></div><div class="t m4f x50 h9 y47 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m5f x74 h7 y48 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｇｅｌ，ａｎｄ</span></div><div class="t m6 x75 h9 y48 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｓｉｇｎ</span></div><div class="t m3c x12 h10 y47 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａ</span></div><div class="t m3f x76 ha y47 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃａｓｃａｄｅ</span></div><div class="t m63 xf h9 y47 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＰＩＤ</span></div><div class="t m64 x1c h9 y47 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃｏｎｔｒｏｌｌｅｒ</span></div><div class="t mc x77 ha y47 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｒ</span></div><div class="t m3e x78 h9 y47 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｅａｃｈ</span></div><div class="t m65 x79 h7 y48 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｇｌｅ．Ｉｎｎｏｒ</span></div><div class="t m6 x7a h9 y48 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｌｏｏｐ</span></div><div class="t m6 x3b h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m5 x1a h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3f x3 ha y49 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃａｓｃａｄｅ</span></div><div class="t m63 x7b h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＰＩＤ</span></div><div class="t m64 x14 h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃｏｎｔｒｏｌｌｅｒ</span></div><div class="t m4d x7c h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｓ</span></div><div class="t mc x7d h7 y4a ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｇｌｅ</span></div><div class="t m40 x12 hf y49 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒａｔｅ</span></div><div class="t m66 x7e ha y4a ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃｏｎｔｒｏｌｌｅｒ，ｔｈｅ</span></div><div class="t m3 x7f hf y49 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｕｔｅｒ</span></div><div class="t m4d x80 h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｓ</span></div><div class="t mc x57 h7 y4a ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｇｌｅ</span></div><div class="t m4f x81 h9 y49 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m67 x82 h6 y4a ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｌｏｏｐ．Ｔｈｅ</span></div><div class="t m64 x3b h9 y4b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｉｍｕｌａｔｉｏｎ</span></div><div class="t m57 x69 h9 y4b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒｅｓｕｌｔｓ</span></div><div class="t m68 x5b h9 y4b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｈｏｗ</span></div><div class="t mc x83 ha y4b ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m69 x51 h7 y4c ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｅａｓｉｂｉｌｉｔｙ</span></div><div class="t m57 x84 ha y4b ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t mc x12 ha y4b ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3e x85 h9 y4c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｐｏｓｅｄ</span></div><div class="t m6a x13 ha y4c ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｌｇｏｒｉｔｈｍ．</span></div><div class="t m6b x21 h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａ</span></div><div class="t m56 x86 h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｎｏｖｅｌ</span></div><div class="t m7 x3e h9 y4e ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｙｓｔｅｍ</span></div><div class="t m6c x87 h4 y4e ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｓｉｇｎ</span></div><div class="t m6 x51 h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m59 x22 h4 y4f ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m4d x64 h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｓ</span></div><div class="t m33 x88 h9 y4e ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｅｓｅｎｔｅｄ</span></div><div class="t mc xe h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｏ</span></div><div class="t m6d x89 h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｏｌｖｅ</span></div><div class="t mc x8a ha y4d ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m4e x8b ha y4d ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m4f x8c h9 y4d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m40 x8d ha y4e ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｂｌｅｍ</span></div><div class="t m1e x7a ha y4d ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｒ</span></div><div class="t m3c x8e h10 y4d ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａ</span></div><div class="t mc x3b h7 y50 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｒｄｒｏｔｏｒ</span></div><div class="t m6e x4f h6 y51 ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ．Ｔｈｅ</span></div><div class="t m45 x6a h9 y51 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｎｏｖｅｌ</span></div><div class="t m6c x8f h4 y50 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｓｉｇｎ</span></div><div class="t m6f x90 h9 y51 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｉｖｉｄｅｄ</span></div><div class="t mc x41 ha y51 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m7 x42 h9 y50 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｙｓｔｅｍ</span></div><div class="t m32 x91 hf y51 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｏ</span></div><div class="t m61 x92 h9 y51 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｒｅｅ</span></div><div class="t m70 x93 ha y51 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｏｄｕｌｅｓ：ａｔｔｉｔｕｄｅ</span></div><div class="t m71 x9 h9 y51 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｔｅｃｔｉｏｎ</span></div><div class="t m72 x3b ha y52 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｔａｂｉｌｉｔｙ</span></div><div class="t m4f x47 h9 y53 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m49 x94 h7 y53 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m73 x95 h9 y52 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｃｔｕａｔｏｒ．Ｒｅｆｅｒｅｎｃｉｎｇ</span></div><div class="t m32 x76 hf y53 ff1 fsd fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｏ</span></div><div class="t mc x54 ha y53 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3b x6c h9 y53 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍａｉｎ</span></div><div class="t m11 x96 h7 y52 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m3b x97 h9 y52 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｐｅｎ</span></div><div class="t m74 x98 h10 y53 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｏｕｒｃｅ</span></div><div class="t m75 x45 h4 y52 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｊｅｃｔｓ</span></div><div class="t m6c x99 h4 y53 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｒｏｕｎｄ</span></div><div class="t mc x3b ha y2c ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3a x9a h9 y54 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｗｏｒｌｄ，ｃｈｏｓｅ</span></div><div class="t m76 x4 h4 y55 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｅｎｓｏｒｓ，ｄｅｓｉｇｎ</span></div><div class="t mc x9b ha y56 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m1d x49 h9 y56 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｉｒｃｕｉｔ</span></div><div class="t m77 x9c h9 y56 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｓｃｈｅｍａｔｉｃ</span></div><div class="t m49 x9d h7 y56 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m3d x9e ha y56 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍａｋｅｓ</span></div><div class="t m78 x97 h9 y54 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＰＣＢ，ｗｒｉｔｅ</span></div><div class="t m49 x9f h7 y56 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m5e xa0 h9 y55 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｂｕｇ</span></div><div class="t mc xa1 h9 y56 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｄｅ．</span></div><div class="t m51 x3b h9 y57 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｕｓｉｎｇ</span></div><div class="t m79 x15 h9 y57 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｎｄｅｐｅｎｄｅｎｔ</span></div><div class="t m43 xa2 h9 y2d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m71 xa3 h9 y2d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｔｅｃｔｉｏｎ</span></div><div class="t m7a xa4 h9 y2d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｏｄｕｌｅ</span></div><div class="t m49 x6 h7 y2d ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｎｄ</span></div><div class="t m4f xa5 h9 y2d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m62 xa6 ha y57 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｍｏｄｕｌｅ，ｓｙｓｔｅｍ</span></div><div class="t m1d x59 ha y2d ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｈａｓ</span></div><div class="t m7b x2a h9 y2d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２４０Ｈｚ</span></div><div class="t m32 xa7 h9 y2d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m7c x3b h9 y58 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｒｅｑｕｅｎｃｙ，ｔｅｓｔｉｎｇ</span></div><div class="t m57 xa8 h9 y59 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒｅｓｕｌｔｓ</span></div><div class="t m68 xa9 h9 y59 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｈｏｗ</span></div><div class="t mc xaa ha y59 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3b x49 h9 y58 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｇｏｏｄ</span></div><div class="t m50 x2e h9 y58 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｗｏｒｋｉｎｇ</span></div><div class="t m7d x43 h7 y58 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｅｒｆｏｒｍａｎｃｅ</span></div><div class="t m6 x8b h9 y59 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m3e xab h9 y59 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｅａｃｈ</span></div><div class="t m75 xac h4 y59 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｕｎｉｔ</span></div><div class="t m45 xad h9 y59 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｗｉｔｃｈ</span></div><div class="t m7e xae h7 y58 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｇｕａｒａｎｔｅｅ</span></div><div class="t mc x3b ha y5a ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m7f x9a ha y5a ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒｅａｌ—ｔｉｍｅ</span></div><div class="t m80 x48 h7 y2e ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｅｒｆｏｒｍａｎｃｅ．</span></div><div class="t m6b x21 h9 y5b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａ</span></div><div class="t m81 xaf h9 y5c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｎｄｅｐｅｎｄｅｎｔ</span></div><div class="t m82 x95 ha y5c ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｖｅｌｏｐｍｅｎｔ</span></div><div class="t m48 x52 h9 y5c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｒｉｅｎｄｌｙ</span></div><div class="t mc x76 ha y5d ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｎｔｅｒｆａｃｅ</span></div><div class="t m4d xb0 h9 y5d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｓ</span></div><div class="t m6c x96 h4 y5c ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｓｉｇｎｅｄ</span></div><div class="t mc xb1 ha y5d ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｏｒ</span></div><div class="t m4f xab h9 y5d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｎ－ｌｉｎｅ</span></div><div class="t m5e xb2 h9 y5c ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｂｕｇ</span></div><div class="t m83 x67 h7 y5d ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｄｅｍａｎｄ．Ａ</span></div><div class="t m84 x3b h9 y5e ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｆｉｇｈｔ</span></div><div class="t m4f xb3 h9 y5f ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m38 xb4 ha y5e ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｅｘｐｅｒｉｍｅｎｔ</span></div><div class="t m4d x51 h9 y5f ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｓ</span></div><div class="t m85 xb5 h6 y5e ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｅｒｆｏｒｍｅｄ</span></div><div class="t m3c xb6 h10 y5f ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｎ</span></div><div class="t m71 xb7 h7 y5e ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＳｍａｒｔＱＴ</span></div><div class="t m86 x44 h7 y5e ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｄｒｏｔｏｒ，ｔｈｅ</span></div><div class="t m38 x6f ha y5e ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｅｘｐｅｒｉｍｅｎｔ</span></div><div class="t m1d xb8 h9 y5f ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｒｅｓｕｌｔｓ</span></div><div class="t m87 x3b ha y60 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｉｍｐｌｅｍｅｎｔｅｄ</span></div><div class="t m3c xb9 h10 y61 ff1 fse fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｎ</span><span class="_ _0"> </span><span class="fc1 sc0">ａ</span></div><div class="t m88 x95 h4 y62 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｓｅｌｆ－ｄｅｓｉｇｎｅｄ</span></div><div class="t m2a xba h7 y60 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｑｕａｒｄｒｏｔｏｒ</span></div><div class="t m89 xbb h7 y62 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｉｒｃｒａｆｔ（ＳｍａｒｔＱＴ）ｓｈｏｗ</span></div><div class="t mc xbc ha y63 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m4e x45 ha y62 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｖａｌｉｄｉｔｙ</span></div><div class="t m6 xbd h9 y63 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｏｆ</span></div><div class="t m5 xbe h9 y63 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｔｈｅ</span></div><div class="t m3e x3b h9 y64 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｐｒｏｐｏｓｅｄ</span></div><div class="t m4e xbf ha y65 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｔｔｉｔｕｄｅ</span></div><div class="t m4f xc0 h9 y65 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ｃｏｎｔｒｏｌ</span></div><div class="t m6a x61 ha y64 ff1 fs8 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ａｌｇｏｒｉｔｈｍ．</span></div><div class="t m55 x21 h9 y66 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｋｅｙ</span></div><div class="t m32 x2 h7 y67 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｗｏｒｄｓ：Ｑｕａｄｒｏｔｏｒ</span></div><div class="t m8a x70 h9 y67 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＵＡＶ；Ａｔｔｉｔｕｄｅ</span></div><div class="t m8b x85 h9 y66 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｅｓｔｉｍａｔｉｏｎ；Ｆｌｙｉｎｇ</span></div><div class="t m3f x38 h9 y68 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａｔｔｉｔｕｄｅ</span></div><div class="t m40 xc1 h9 y66 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｃｏｎｔｒｏｌ；Ｃａｓｃａｄｅ</span></div><div class="t m8c x7a h9 y66 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＰＩＤ；</span></div><div class="t m8d x3b h9 y69 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｄｙｎａｍｉｃ</span></div><div class="t m8e x2 h9 y6a ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ｍｏｄｅｌ</span></div></div><div class="pi" data-data='{"ctm":[1.851296,0.000000,0.000000,1.851296,0.000000,0.000000]}'></div></div>

<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62572e13bd8c6f2306b997cb/bg5.jpg"><div class="t m8f x1e h7 y1b ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">大连理工大学硕士学位论文</span></div><div class="t m1b x76 h6 y6b ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">目</span></div><div class="t mc xf h6 y6b ff1 fs4 fc0 sc0 ls0 ws0"><span class="fc1 sc0">录</span></div><div class="t mc x20 h7 y6c ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">摘</span></div><div class="t m90 x48 h7 y6c ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">要…………………………………………………………………………………．Ｉ</span></div><div class="t m91 xc2 h9 y1d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">Ａｂｓｔｒａｃｔ．……．…．…．……．……．…．…．…．…．…．……．．……．…．．……………．…．…．………．……．．…．…．…．．ＩＩ</span></div><div class="t m92 x20 h9 y1e ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１</span></div><div class="t m93 x2 h7 y1e ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">绪｛仑………………………………………………………………………………………………………………１</span></div><div class="t m94 xc3 h7 y6d ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１．１课题背景及意义………………………………………………………………１</span></div><div class="t m95 xc3 h4 y20 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１．２四旋翼飞行器的研究现状……………………………………………………２</span></div><div class="t m96 xc3 h9 y21 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１．３</span></div><div class="t m97 xc4 h4 y6e ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器控制系统关键技术……………………………………………５</span></div><div class="t m98 x30 h4 y22 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１．３．１惯性导航技术…………………………………………………………５</span></div><div class="t m99 x30 h9 y23 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１．３．２</span></div><div class="t m9a xc5 h4 y14 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器控制方法………………………………………………７</span></div><div class="t m9b xc3 h7 y24 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">１．４本文主要工作…………………………………………………………………８</span></div><div class="t m7 xc2 h9 y6f ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２</span></div><div class="t m9c x23 h7 y25 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器动力学模型…………………………………………………………．．９</span></div><div class="t m96 xc6 h9 y46 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２．１</span></div><div class="t m9d xc4 h4 y26 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器原理分析………………………………………………………９</span></div><div class="t m9e xc6 h7 y27 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２．２四旋翼飞行器模型建立……………………………………………………．１２</span></div><div class="t m9f xc7 h7 y28 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２．２．１坐标系建立…………………………………………………………一１２</span></div><div class="t ma0 xc7 h4 y29 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">２．２．２基于牛顿．欧拉公式的四旋翼飞行器动力学模型…………………．１３</span></div><div class="t m7 xc2 h9 y70 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３</span></div><div class="t ma1 x23 h7 y2a ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器姿态检测及控制原理………………………………………………１６</span></div><div class="t m96 xc6 h9 y71 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．１</span></div><div class="t m13 x94 h4 y2b ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">姿态的四元数表示法………………………………………………………．１６</span></div><div class="t ma2 xc6 h4 y72 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．２基于梯度下降法的姿态检测算法…………………………………………．１９</span></div><div class="t ma0 xc7 h4 y2d ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．２．１角速度积分获取姿态………………………………………………．．１９</span></div><div class="t ma0 xc7 h4 y58 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．２．２梯度下降法在地球均匀场中求载体姿态…………………………．．２０</span></div><div class="t ma3 xc7 h4 y73 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．２．３互补滤波融合………………………………………………………一２３</span></div><div class="t ma4 xc6 h4 y74 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．３数字ＰＩＤ控制器……………………………………………………………２５</span></div><div class="t m99 xc7 h9 y75 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．３．１</span></div><div class="t ma5 xd h7 y76 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">ＰＩＤ控制算法………………………………………………………一２５</span></div><div class="t ma6 xc7 h7 y77 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．３．２数字ＰＩＤ控制器……………………………………………………．２６</span></div><div class="t ma4 xc6 h4 y78 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">３．４基于简化模型的串级ＰＩＤ控制算法………………………………………２８</span></div><div class="t m7 xc2 h9 y79 ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４</span></div><div class="t ma7 x23 h4 y7a ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">四旋翼飞行器系统设计与实现……………………………………………………３０</span></div><div class="t m96 xc6 h9 y7b ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４．１</span></div><div class="t m53 x94 h7 y7c ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">机身结构设计………………………………………………………………．３０</span></div><div class="t m99 xc8 h9 y7d ff1 fs7 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４．１．１</span></div><div class="t ma8 xd h4 yd ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">机身机械结构设计…………………………………………………一３０</span></div><div class="t m9f xc8 h7 y7e ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４．１．２动力模块选择………………………………………………………一３２</span></div><div class="t ma2 xc9 h4 y7f ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４．２飞行姿态控单元设计与实现………………………………………………．３３</span></div><div class="t m9e xc9 h7 y80 ff1 fs5 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４．３姿态检测单元设计…………………………………………………………．３５</span></div><div class="t ma2 xc9 h4 y81 ff1 fs2 fc0 sc0 ls0 ws0"><span class="fc1 sc0">４．４驱动单元设计与实现………………………………………………………．３７</span></div></div><div class="pi" data-data='{"ctm":[1.851296,0.000000,0.000000,1.851296,0.000000,0.000000]}'></div></div>