| In recent years, the research of flapping-wing MAV is gaining more andmore attention for its unmatched advantages in many fields such as defense, civil andso on. In order to test the posture controling method of insect inspired MAV, a flumeposture servo control system was designed. The main work of this paper is dividedinto two parts, the development of hardware of the system, and the development offirmware as well.The hardware of the flume experiment control system mainly consists of dataprocessing system of single chip board, drives, stepper motor and inverter. HereSTM8L152M8single chip microcomputer was used as MCU. The main work of theMCU is to receive the data sent by PC through the serial port, and complete thesampling the signal of flowmeter. One results caculated by using PID agrithm wasput out through a channel which converts the voltage to current know as4~20mAcurrent loop to control the water flow velocity; and pitch posture signal is convertedinto a bouch of pulse to drive the stepper motor to a new angle position. Opticalisolation chips and various grounding techniques were used to improve the reliabilityof the system.The firmware of the system was developed as well. The flapping-wing MAVmodel pitch posture angle and the speed of the water need to be sampled real-timely,and then send to PC; A special software will get the datas, and calculate the comtrollparameters by using PID agrithm to predict the posture angle of the MAV and thespeed of water during the next step, and then send these parameters to this controller;Through an electric machine translation system, the posture angle and water velocityof MAV were under control to simulate the flight of a MAV. A Pump was used toget water flow, by controlling the power of pump; the speed of water flow thus canbe controlled. Here4~20ma current loop was used to control the output frequency ofthe frequency convertor of the pump. PID agrithm were used during water flowspeed control period to get accurate results. |
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