摘要旋翼无人飞行器从 1907年发展至今已有较为完善的理论和实践体系，随着旋翼无人飞行器的迅速发展，用各个软件平台搭建的旋翼飞行器的仿真平台也相继推出。运用飞行器仿真平台搭建飞行器模型可以有效提高无人机飞行控制系统调试与实验的可行性和准确性，尤其在飞控系统的设计与分析阶段，利用飞行器仿真平台搭建仿真模型整个实验研究过程更加经济和灵活。本文是用Matlab 搭建的四旋翼飞行器仿真平台，该仿真平台具有如下创新设计：利用 Simscape 工具箱建立飞行器 3D 硬件模型，以便于直观观察飞行器飞行姿态和控制效果；硬件模型的各个参数可调，可以满足不同控制器和实际情况的控制要求；各输入输出端口直观明了，方便控制器的外接。26010
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 基于Simscape工具箱的旋翼无人机仿真平台搭建:http://www.751com.cn/jisuanji/lunwen_20046.html