基于Matlab的四旋翼无人机飞行控制仿真研究

⛄ 内容介绍

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.

⛄ 部分代码

function sdot = quadEOM(t, s, qn, controlhandle, trajhandle, params)

% QUADEOM Wrapper function for solving quadrotor equation of motion

% quadEOM takes in time, state vector, controller, trajectory generator

% and parameters and output the derivative of the state vector, the

% actual calcution is done in quadEOM_readonly.

%

% INPUTS:

% t             - 1 x 1, time

% s             - 13 x 1, state vector = [x, y, z, xd, yd, zd, qw, qx, qy, qz, p, q, r]

% qn            - quad number (used for multi-robot simulations)

% controlhandle - function handle of your controller

% trajhandle    - function handle of your trajectory generator

% params        - struct, output from crazyflie() and whatever parameters you want to pass in

%

% OUTPUTS:

% sdot          - 13 x 1, derivative of state vector s

%

% NOTE: You should not modify this function

% See Also: quadEOM_readonly, crazyflie

% convert state to quad stuct for control

qd = stateToQd(s);

% Get desired_state

desired_state = trajhandle(t);

% The desired_state is set in the trajectory generator

qd.pos_des      = desired_state.pos;

qd.vel_des      = desired_state.vel;

qd.acc_des      = desired_state.acc;

qd.yaw_des      = desired_state.yaw;

qd.yawdot_des   = desired_state.yawdot;

% get control outputs

[F, M] = controlhandle(qd, t, params);

% compute derivative

sdot = quadEOM_readonly(t, s, F, M, params);

end

⛄ 运行结果

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