集群固定翼无人机飞行仿真平台及MATLAB代码分享

⛄ 内容介绍

为了对小型无人机全过程飞行仿真进行研究,根据无人机飞行控制回路和制导回路,搭建了模块化的系统仿真结构,将Matlab/Simulink和Stateflow有机结合起来,建立了易于维护和扩展的仿真环境.利用仿真环境对无人机的控制规律和制导规律进行了仿真,结果表明了控制规律和制导规律的合理性,以及全过程仿真环境的实用性.

⛄ 部分代码

close all;clear;

close all

addpath 'data'

addpath 'uavA1'

% addpath 'uavShow'

% If you want to use other planning 5 trajectories files

% You should change as followws：

% 1. getWpp.m      load '5jia.mat'

% 2. para_chap1.m  load '5jia.mat'

% Change the name of '5jia.mat'

% And the simulink time also needs to adjusted if too long or long short  

%----------------

uavW = 1;

save('uavW.mat','uavW');

sim('New_mavsim_chap12');

ii = 1;

eval（['x' num2str(ii) '= x;'])

eval（['path' num2str(ii) '= path;'])

eval（['waypoints' num2str(ii) '= waypoints;'])

save('x1.mat','x1','path1','waypoints1');

%----------------

clear;

uavW = 2;

uavi = uavW;

save('uavW.mat','uavW');

sim('New_mavsim_chap12');

ii = 2;

eval（['x' num2str(ii) '= x;'])

eval（['path' num2str(ii) '= path;'])

eval（['waypoints' num2str(ii) '= waypoints;'])

save('x2.mat','x2','path2','waypoints2');

%----------------

clear;

uavW = 3;

save('uavW.mat','uavW');

sim('New_mavsim_chap12');

ii = 3;

eval（['x' num2str(ii) '= x;'])

eval（['path' num2str(ii) '= path;'])

eval（['waypoints' num2str(ii) '= waypoints;'])

save('x3.mat','x3','path3','waypoints3');

%----------------

clear;

uavW = 4;

save('uavW.mat','uavW');

sim('New_mavsim_chap12');

ii = 4;

eval（['x' num2str(ii) '= x;'])

eval（['path' num2str(ii) '= path;'])

eval（['waypoints' num2str(ii) '= waypoints;'])

save('x4.mat','x4','path4','waypoints4');

%----------------

clear;

uavW = 5;

save('uavW.mat','uavW');

sim('New_mavsim_chap12');

ii = 5;

eval（['x' num2str(ii) '= x;'])

eval（['path' num2str(ii) '= path;'])

eval（['waypoints' num2str(ii) '= waypoints;'])

save('x5.mat','x5','path5','waypoints5');

% Show part

%----------------

close all;clear;

load 'x1'

load 'x2'

load 'x3'

load 'x4'

load 'x5'

addpath 'uavShow'

sim('mavsim_show');

⛄ 运行结果

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