現今社會使用多軸飛行器的機會越來越多，隨之而來會搭配穩定器平台用於穩定相機，以達到影像錄製、拍照、視覺控制等等功能，故穩定器的控制會影響著影像的輸出，現行穩定器大多使用PID控制無刷馬達，為了能提升穩定器的性能，本文使用串級PID控制來進行性能升級，以此得到更佳的穩定器平台。
本研究建立了雙軸無刷馬達穩定器控制平台，使用商購的雙軸無刷馬達穩定器，並且利用開源的軟體以及人機介面，來達到低成本、易開發。在實驗的一開始必須先建立無刷馬達數學模型，控制方面則使用串級PID控制無刷馬達穩定器，並進行調整內環路以及外環路的控制器，使控制參數符合無刷馬達穩定器使用。由於串級PID控制比單級PID控制多了一個控制器，對於控制來說能抗干擾以及性能的提升，實驗分為單級PID控制和串級PID控制，首先利用MATLAB完成單級PID控制器與串級PID控制器的方塊圖建立，再來進行模擬調整，可以大幅度減少運算的過程。
最後通過反覆的實驗測試以及比較後，可以從實驗結果得知串級PID控制比起單級PID控制有更好的控制，更適用於無刷馬達穩定器的控制。

Nowadays, there are more and more opportunities to use multi-axis aircraft, and it contains a stabilizer platform to stabilize the camera. Therefore, it can achieve the functions of image recording, photography, visual control, etc. As mentioned above, the control of the stabilizer platform decides the quality of the image. In order to improve the performance of the stabilizer platform, it is a common way to control the brushless motor with PID. This paper used cascade PID, further, to increase the stability to a higher level.
This research establishes a two-axis brushless motor stabilizer control platform with commercially available brushless motor stabilizers , and it uses open source software and human-machine interfaces to reduce the cost and simplify the development. At the beginning of the experiment, a mathematical model of the brushless motor must be established. Then, Using the cascade PID controls the brushless motor stabilizer, and adjusting the controllers of inner and outer loops to make sure the control parameters are consistent with the brushless motor stabilizer . Because, the number of controller of cascade PID is one more than single-stage PID, it will enhance the anti-interference and performance in the control. The experiment is divided into the control of single-stage PID and cascade PID. Using MATLAB completes the block diagram of the single PID controller and the cascade PID controller before the adjustment of simulation can greatly reduce the process of calculation.
Finally, accordion to the comparison of multiple experiments, it shows cascade PID is a better option to control the brushless motor stabilizers.

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