Matlab模拟四旋翼飞行器PID控制仿真

1 简介

旋翼类无人机相对于固定翼无人机具有能够垂直起降,空中悬停等优点,而四旋翼无人机作为其中一个典型的代表,不仅结构简单还具有良好的带载能力,也易于操控,在军事领域,民用领域,都有着广泛的应用,常见的包括航天拍摄,灾害救援,物资运输等.飞行控制系统是四旋翼飞行器的关键,其中,如何控制飞行器的姿态,是整个飞行控制的核心问题.要保证四旋翼无人机在各种飞行环境下都具有良好的飞行状态,飞行控制算法极为重要.本文借助Matlab/Simulink仿真平台上,使用了PID控制系统对四旋翼无人机进行了仿真.​

2 部分代码

%%%%%%%%%%%%%%% desired position  %%%%%%%%%%%%%%%%%%%%%%xdes = 10;ydes = 18;zdes = -20;%%%%%%%%%%%%%%%structural parameters %%%%%%%%%%%%%%%%%%%m = 0.5;g = 9.8;Ixx =0.114;Iyy = 0.114;Izz = 0.158;yaw = 3/57.3;L = 0.2;%%%%%%%%%%%%%%%%%%  save PID for x  %%%%%%%%%%%%%%%%%%%%kpx = 0.8;kix = 1e-4;kdx = 1.3;%%%%%%%%%%%%%%%%%%  save PID for y  %%%%%%%%%%%%%%%%%%%%kpy = 0.8;kiy = 3e-4;kdy = 1.3;%%%%%%%%%%%%%%%%%%  save PID for z  %%%%%%%%%%%%%%%%%%%%kpz = 1.2;kiz = 1e-6;kdz = 2;%%%%%%%%%%%%%%%%%%  save PD for phi  %%%%%%%%%%%%%%%%%%%kpphi = 2000;kdphi = 4000;%%%%%%%%%%%%%%%%%%  save PD for theta  %%%%%%%%%%%%%%%%%kptheta = 2000;kdtheta = 4000;%%%%%%%%%%%%%%%%%%  save PD for psi  %%%%%%%%%%%%%%%%%%%kppsi = 800;kdpsi = 4000;%%%%%%%%%%%%%%%%%%% save tsim %%%%%%%%%%%%%%%%%%%%%%%%%%tsim = 20;

3 仿真结果

4 参考文献

[1]魏家辉, 姜春波, 陈浩,等. 基于Matlab的四旋翼无人机控制仿真[J]. 数码世界, 2018.

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