基于Simscape工具箱的旋翼无人机仿真平台搭建
毕业论文关键词 旋翼飞行器 仿真平台 数学模型 Matlab PID控制器
Title Building of Rotor Unmanned Aerial Vehicle (UAV) Simulation Platform Based on Simscape Toolbox
Abstract
The Rotor unmanned aerial vehicle (UAV) has been developed since 1907, with the
rapid development of unmanned rotary wing aircraft, the relatively complete theory
and practice have been obtained up to now. Using aircraft simulation platform to
build an aircraft model can effectively improve the feasibility and accuracy of
UAV flight control system debugging and experiments, especially in the design and
analysis phase of the flight control systems, the use of aircraft simulation
platform to build simulation model of the whole process more economical
experimental study and flexible. And the rotorcraft simulation platforms built
with different software have been launched one after another. This paper is about
the four-rotor aircraft simulation platform built with Matlab. This simulation
platform has the following innovative designs: 3D hardware model of the aircraft
is built by use of Simscape toolbox, so as to easily observe the flight attitude
and control effect of the aircraft; Each parameter of the hardware model can be
adjusted, which can meet the control requirements of the different controller and
the actual situation; All the input and output ports are intuitive, so it is
convenient for the external connection of the controller.
Keywords Unmanned Aerial Vehicle (UAV) simulation platform mathematical model Matlab PID
目 次
1 绪论 1
1.1 研究背景及意义 . 1
1.2 国内外研究现状 . 1
1.3 飞行器飞行控制仿真软件概况 . 2
1.4 课题来源 . 3
1.5 本文研究内容及结构安排 . 3
2 四旋翼飞行器数学模型建立 4
2.1 坐标系定义 . 4
2.2 四旋翼飞行器建模 . 6
2.3 本章小结 . 8
3 飞行器仿真平台架构 9
3.1 Simscape 工具箱简介及模块介绍 9
3.2 飞行器仿真平台总览 . 9
3.3 飞行器部件结构模型搭建 . 10
3.4 飞行控制器模型搭建 . 13
3.5 本章小结 . 15
4 仿真结果及控制效果分析 16
4.1 系统模型准确性验证 . 16
4.2 控制效果分析与验证 . 18
4.3 本章小结 . 19
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