摘要智能手机已经在当今时代广泛地被人们所使用，根据其而衍生出来的外设也逐渐收到了人们的欢迎，包括生活助手，运动健康，娱乐影音等等方面。本外设式飞行器也是迎合了这一种趋势。研究主要关于外设的控制方法，提供一种更加稳定，高效的方式，达到最佳的控制效果。基于Matlab的仿真，借鉴了成熟的四轴飞行器，建立了系统的数学模型。本文对于系统的姿态控制进行了详细的论证，提供了较强的理论依据。也比较分析了使用PID控制和使用模糊控制方式的优劣。此外，研究过程中还借助了绘图工具Solidworks，进行详细的力学分析，用以达到外设式飞行器的优良适应性。本设计没有过多的加入硬件的设计，主要也只是提供了一种思路和思路所需要的控制方法。研究最后提供了基于此次控制设计的Simulink仿真和为了能够更加容易的将理论应用于实际而提出的一些数学模型。84534

毕业论文关键词：智能手机外设；飞行装置；Simulink仿真；数学模型；抗干扰

Abstract The Smart phones have been widely used in today's era, and the peripheral devices derived from it has gradually received a welcome, including life assistant, sports health, entertainment, audio and video, etc。。 The peripheral aircraft is also to meet this trend。 The study mainly on the peripheral control methods, to provide a more stable and efficient way, to achieve the best control effect。 Based on Matlab simulation, the mathematical model of the system is established, which is based on the mature four axis aircraft。 In this paper, the attitude control of the system is demonstrated in detail, which provides a strong theoretical basis。 The advantages and disadvantages of using PID control and fuzzy control methods are also compared and analyzed。 In addition, the research process also has the aid of the drawing tool Solidworks, carries on the detailed mechanics analysis, in order to achieve the peripheral type aircraft the fine adaptability。 This design is not too much to join the hardware design, mainly to provide a way of thinking and ideas needed to control the method。 At last, the Simulink simulation based on the control design is provided and some mathematical models are put forward in order to be able to be more easily applied to the theory。

Key words: intelligent mobile phone peripherals; flight device; Simulink simulation; mathematical model; anti interference

目  录

第一章  引言 7

1。1 选题意义及背景 7

1。2 国内外领域研究现状 7

1。3 研究重点 7

1。4 本文思路 8

第二章  外设式飞行器数学建模 8

2。1 准备工作 8

2。1。1 外部结构 8

2。1。2 旋转式结构 9

2。2 力学输入量分析 10

2。3 运动学输出量分析 11

2。3。1 坐标系建立 11

2。3。2 姿态分解 12

2。3。3 转换矩阵 13

2。3。4 线运动分析 14

2。3。5 角运动分析 15

2。4 建立系统的数学模型 15

2。4。1 输入量与输出量的数学模型 15

第三章  仿真模型实现