The invention discloses a dual-redundancy
attitude control system of a coaxial unmanned helicopter, which consists of a
serial communication module, a PCM (Pulse-Code Modulation) decoding module, an AD acquisition module, a PWM (Pulse-Width Modulation) output module and a CPU control module. The
serial communication module, the PCM decoding module and the AD acquisition module are used as
system input, the CUP control module carries out improved digital PID control, and the PWM output module carries out output in the form of PWM pulses, and thus, the control of a backward-stage high power valve is realized. A debug method comprises the following fives steps of: firstly, connecting a defined I / O port to a high or low-level end according to a parameter debug object; secondly, adjusting a
potentiometer to provide initial parameters for Kp and Kd and controlling the backward-stage high power valve; thirdly, keeping a
neutral position of Futaba unchangeable, adjusting the
potentiometer so that a steering engine achieves a critical state of self-excitation vibration; fourthly, operating the Futaba to output a
signal exceeding a pulse threshold; and fifthly, operating the Futaba to return to a central position. The method realizes the debug and the storage of relevant parameters, decreases interference and improves the
system stability and the response speed.