摘  要：在风洞实验中，为动态地研究仿昆虫微飞行器的仰俯姿态控制方法，微飞行器的仰俯姿态需要根据安装于其上的微型多维力传感器的输出扭矩进行实时调节，为此设计了本伺服控制器。控制器采用STC增强型51单片机作为本控制器的核心，用模拟SPI接口与多维力传感器进行数据采集，采用电位器作为姿态角传感器，外接模数转换电路对姿态角度进行采样；采用步进电机实现对仰俯姿态角角速度的动态调节，并采用PID算法对姿态角角速度进行闭环反馈控制，以确保仰俯姿态角速度的控制精度。
关键词：仿昆虫；MAV（Micro-Aerial-Vehicle）；仰俯姿态；风洞

Abstract: For the convenience for pitch attitude control method studies of insect inspired MAVs,the pitch attitude of a MAV in wind tunnel need to be adjusted instantaneously according to the force and moments measured by a multidimensional force sensor which was mounted on the body of MAV,this gives rise the design of this controller.An enhanced STC MCS-51 micro-chip was token as the CPU of the whole circuit,SPI interface was used to get the data from the multidimensional force sensor and an adjustable resister together with an analog to digital converter circuit were used to get real pitch attitude of MAV.Step motor was taken to realize the control of the pitch attitude dynamically,and PID algorithm was used in a feedback control loop of pitch angular velocity,which improve the accuracy of the pitch angular velocity greatly.
Key Words: Insect inspired;MAVs;Pitch attitude;Wind tunnel