{"id":712,"date":"2018-10-21T21:04:00","date_gmt":"2018-10-21T13:04:00","guid":{"rendered":"http:\/\/www.xuhao1.me\/?p=712"},"modified":"2020-06-01T04:50:02","modified_gmt":"2020-05-31T20:50:02","slug":"%e5%be%ae%e5%b0%8f%e5%9e%8b%e7%94%b5%e5%8a%a8%e7%9b%b4%e5%8d%87%e6%9c%ba%e6%97%a0%e4%ba%ba%e6%9c%ba%e5%88%9d%e6%8e%a2","status":"publish","type":"post","link":"http:\/\/blog.xuhao1.me\/?p=712","title":{"rendered":"\u5fae\u5c0f\u578b\u7535\u52a8\u76f4\u5347\u673a\u65e0\u4eba\u673a\u521d\u63a2"},"content":{"rendered":"\n<div class=\"wp-block-cover\" style=\"background-image:url(http:\/\/blog.xuhao1.me\/wp-content\/uploads\/2020\/01\/v2-b1768fa457caae68b7c583b71408f061_hd.jpg)\"><div class=\"wp-block-cover__inner-container\">\n<p class=\"has-text-align-center 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@YY\u7855 \u7684\u8bba\u6587<br>\u591a\u65cb\u7ffc\u59ff\u6001\u63a7\u5236\u65f6\u5148tilt\u518dtorsion\u6709\u4ec0\u4e48\u597d\u5904\uff1f &#8211; YY\u7855\u7684\u56de\u7b54 &#8211; \u77e5\u4e4e https:\/\/www.zhihu.com\/question\/61819700\/answer\/191420312<br>\u6709\u6240\u4e0d\u540c\u7684\u662f\u5728\u89d2\u901f\u5ea6\u63a7\u5236\u4e0a\u9762\uff0c\u672c\u8eab\u89d2\u901f\u5ea6\u63a7\u5236\u662f\u4e00\u4e2a\u7b80\u5355\u7684PID\u63a7\u5236\u5668\uff0c\u5206\u522b\u63a7\u5236\u98de\u673a\u7684roll pitch yaw\u7684\u65cb\u8f6c\uff0c\u63a7\u5236\u7387\u672c\u8eab\u6ca1\u4ec0\u4e48\u597d\u8bf4\u7684\u3002<\/p>\n\n\n\n<p>\u4e0d\u540c\u7684\u662f<\/p>\n\n\n\n<p>\u4e00\u5219,\u662f\u76f4\u5347\u673a\u7684\u87ba\u65cb\u6868\u65cb\u8f6c\u4f1a\u5e26\u6765\u5de8\u5927\u7684\u9640\u87ba\u4eea\u566a\u97f3\uff0c\u6839\u636e\u8f6c\u901f\u4e0d\u540c\u6709\u53d8\u5316\uff0c\u6bd4\u5982\u6211\u7684Gaui 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pitch \u63a7\u5236\u91cf\u7684\u7075\u654f\u5ea6\uff08\u56e0\u4e3a\u63a7\u5236\u91cf\u662f\u7ebf\u6027\u53e0\u52a0\u5230\u6cb9\u95e8\u91cf\u4e0a\uff0c\u800c\u7535\u5b50\u8c03\u901f\u5668\u7684\u6027\u8d28\u4e0b\u63a8\u529b\u548c\u6cb9\u95e8\u91cf\u7684\u5173\u7cfb\u662f\u975e\u7ebf\u6027\uff09yaw\u5219\u4e0d\u4f1a\u53d7\u5230\u5f71\u54cd\uff0c\u56e0\u4e3a\u7535\u5b50\u8c03\u901f\u5668\u7684\u63a7\u5236\u91cf\u5bf9\u5e94\u7684\u662f\u7ebf\u6027\u7684\u87ba\u65cb\u6868\u53cd\u529b\u77e9\u3002\u548cyaw\u63a7\u5236\u529b\u77e9\u7684\u4ea7\u751f\u662f\u7ebf\u6027\u7684\u3002<\/p>\n\n\n\n<p>\u6240\u4ee5\u5728mc_attcontrol\u4e2d\uff0c\u6709\u4e00\u4e2apid_attenuations\u7684\u51fd\u6570\u7528\u4e8e\u5728thrust\u589e\u52a0\u65f6\u51cf\u5c0froll pitch\u7684pid\u53c2\u6570\u7684\u5927\u5c0f\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u76f4\u5347\u673a\u800c\u8a00\uff0c\u8fd9\u4e2a\u5173\u7cfb\u5b8c\u5168\u4e0d\u540c\u3002\u76f4\u5347\u673a\u7684\u63a8\u529b\u6539\u53d8\u6709\u4e24\u79cd\u65b9\u5f0f\uff08\u8bf7\u53c2\u9605\u63a8\u529b\u63a7\u5236\u90e8\u5206\uff09\uff0c\u5176\u4e2d\u603b\u8ddd\u7684\u6539\u53d8\u5e76\u4e0d\u4f1a\u9020\u6210roll pitch \u7075\u654f\u5ea6\u7684\u6539\u53d8&#8211;\u56e0\u4e3a\u603b\u8ddd\u4e5f\u597droll pitch 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dL = \\frac{1}{2}\\rho (\\omega r)^2 C_L(\\alpha)dS 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