1 简介
四旋翼飞行器是一种电动的,能够垂直起降的,多旋翼式无人飞行器.近些年来,随着飞行控制理论,机电一体化技术,传感器技术等的飞速发展,四旋翼飞行器的应用前景越来越广阔,并受到了越来越广泛地关注.
2 部分代码
%-----------------------------------------------------------------------%
% %
% This script simulates quadrotor dynamics and implements a control % %
% algrotihm using the Simulnk Block Diagram file QuadrotorSimulink.mdl %
% %
% %
% %
%-----------------------------------------------------------------------%
% Add Paths
addpath utilities
%% Initialize Workspace
clear all;
% close all;
clc;
global Quad;
%% Initialize the plot
init_plot;
plot_quad_model;
%% Initialize Variables
quad_variables;
%% Run Simulation
SimOut = sim('QuadrotorSimulink');
%% Run The Simulation Loop
for S = 1 : 1 : size(SimOut,1)
Quad.X = X_out.signals.values(S);
Quad.Y = Y_out.signals.values(S);
Quad.Z = Z_out.signals.values(S);
Quad.phi = Phi_out.signals.values(S);
Quad.theta = Theta_out.signals.values(S);
Quad.psi = Psi_out.signals.values(S);
% Plot the Quadrotor's Position
plot_quad
% campos([A.X+2 A.Y+2 A.Z+2])
% camtarget([A.X A.Y A.Z])
% camroll(0);
drawnow;
end
%% Plot Data
figure();
plot(SimOut,X_out.signals.values)
hold on;
plot(SimOut,X_desired.signals.values);
title('X');
figure();
plot(SimOut,Y_out.signals.values)
hold on;
plot(SimOut,Y_desired.signals.values);
title('Y');
figure();
plot(SimOut,Z_out.signals.values)
hold on;
plot(SimOut,Z_desired.signals.values);
title('Z');
figure();
plot(SimOut,Psi_out.signals.values)
hold on;
plot(SimOut,Psi_desired.signals.values);
title('Psi');
3 仿真结果
4 参考文献
[1]乔维维. 四旋翼飞行器飞行控制系统研究与仿真. Diss. 中北大学, 2012.
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