?????????歡迎來到本博客????????

??博主優(yōu)勢：??????博客內容盡量做到思維縝密，邏輯清晰，為了方便讀者。

??座右銘：行百里者，半于九十。

??????本文目錄如下：??????

目錄

??1 概述

??2 運行結果

??3?參考文獻

??4 Matlab代碼、Simulink實現(xiàn)

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??1 概述

多旋翼無人機（UAV）由于其多功能性和機械簡單性而在研究和商業(yè)應用中都獲得了極大的普及。然而，盡管有這些優(yōu)勢，多旋翼系統(tǒng)在設計保證安全可靠飛行性能的強大控制架構方面仍然是一個相當大的挑戰(zhàn)。按照今天的慣例，制導、控制和導航算法（GNC）的設計主要在仿真中進行。為了保證在仿真環(huán)境中生成的控制解決方案與真實飛行性能之間的無縫轉換，仿真應以足夠的保真度再現(xiàn)真實世界的行為。
該仿真包括任意多旋翼無人機的改進動態(tài)模型。仿真非常模塊化，允許用戶指定幾乎任何可以想象的多旋翼機身，無論對稱性或特定布局如何。與在室外飛行真正的無人機相比，所包含的環(huán)境效果也有助于使模擬行為更自然。模擬包括隨附論文文本中描述的所有場景。其中包括：任意非對稱機身，改變機身質量或慣性矩或在飛行過程中引入執(zhí)行器故障的能力，機身上的空氣動力阻力，動態(tài)推力產生，不同的空氣動力學螺旋槳模式，如渦環(huán)狀態(tài)和葉片拍打效應。如果需要，用戶可以關閉所有這些效果。
當前實現(xiàn)的控制器僅是內環(huán)角速率控制。由用戶決定實施他們選擇的更高級的控制方案。

??2 運行結果

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部分代碼：

clear all;close all;clc
%--------------------------------------------------------------------------
t_control = 1/500; ? ? ? ? ?% Controller/state estimation frequency 500Hz [s]
t_sim = t_control/2; ? ? ? ?% Simulation frequency 1000Hz [s]
sim_time = 10.0; ? ? ? ? ? ?% Duration of simulation [sec]
r2d = 180/pi; ? ? ? ? ? ? ? % Conversion factor radians to degrees [deg/rad]
d2r = pi/180; ? ? ? ? ? ? ? % Conversion factor degrees to radians [rad/deg]
g = 9.80665; ? ? ? ? ? ? ? ?% Acceleration of gravity [m/s^2]
rpm2radpersec = 2*pi/60; ? ?% Conversion factor RPM to rad/sec [rad/(s*rpm)]
rho = 1.225; ? ? ? ? ? ? ? ?% Density of air [kg/m^3]
%--------------------------------------------------------------------------
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ? ? ? ? ? ? ? Quad specific configuration parameters ? ? ? ? ? ? ? ? ? ?%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% The coordinate system used in this model is defined as follows:
% X: pointing forward, Roll axis
% Y: pointing to the right, Pitch axis
% Z: pointing down, Yaw axis
% To define the geometry of the airframe, the following convention is used:
% - the base airframe is assumed to be somewhat symmetric
% - the CoG for the base airframe coincides with the geometric center in X/Y plane (but is shifted along Z axis)
% - the motor arm length in X/Y plane is defined as the distance to the geometric center of the base airframe
% - motor thrust is generated at the prop, which is offset a distance (along Z) from the geometric center
% - motor thrust vector may be misaligned from purely Z direction, so a set of rotation angles is given for each motor
% - real position of CoG is given as a position vector from geometric center
% - everything is expressed in body coordinate system described above
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Noise_flag = 0; ? ? ? ? ? ? ? ? % Set to 1 for sensor/estimation noise, to 0 for no noise
Coriolis_correction = 1; ? ? ? ?% Set to 1 to cancel omega x (J*omega) term in control law, 0 if not
Dyn_thrust = 0; ? ? ? ? ? ? ? ? % Set to 1 to engage dynamic thrust effects, to 0 to disengage
Blade_flapping = 0; ? ? ? ? ? ? % Set to 1 to engage blade flapping effects, to 0 to disengage
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Initial conditions
Att_init = [0;0;0] * d2r; ? ? ? % Initial airframe attitude in Euler angles Roll/Pitch/Yaw for 6DOF block [deg]
omega_init = [0;0;0]; ? ? ? ? ? % Initial angular rates in Body frame for 6DOF block [rad/s]
Vb_init = [0;0;0]; ? ? ? ? ? ? ?% Initial velocity in Body frame for 6DOF block [m/s]
Xi_init = [0;0;0]; ? ? ? ? ? ? ?% Initial position in Inertial frame for 6DOF block [m]
rpm_init = 3104.5025852; ? ? ? ?% Initial motor speed [rpm]
q_init = rpy2quat(Att_init); ? ?% Compute the initial attitude quaternion
R_IB_init = rpy2rot(Att_init); ?% Compute the initial rotation matrix R_IB
Vi_init = R_IB_init' * Vb_init; % Compute the initial velocity in Inertial axes
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Parameters for aerodynamic drag computation
a = 0.060; ? ? ? ? ? ? ? ? ? ? ?% Surface area of airframe visible along the Body x axis [m^2]
b = 0.060; ? ? ? ? ? ? ? ? ? ? ?% Surface area of airframe visible along the Body y axis [m^2]
c = 0.060; ? ? ? ? ? ? ? ? ? ? ?% Surface area of airframe visible along the Body z axis [m^2]
C_D = 0.40; ? ? ? ? ? ? ? ? ? ? % Drag coefficient [dimensionless]
Surface_params = [a;b;c]; ? ? ? % Combine the surface area parameters
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Parameters for dynamic thrust computation
v_h = 4.0; ? ? ? ? ? ? ? ? ? ? ?% Induced aerodynamic velocity at hover [m/s]
kappa = 1.00; ? ? ? ? ? ? ? ? ? % Value for induced power factor in hover (chosen to make transition from different states continuous)
k1 = -1.125; ? ? ? ? ? ? ? ? ? ?% Empirical values taken from Hoffmann_2011
k2 = -1.372; ? ? ? ? ? ? ? ? ? ?% Empirical values taken from Hoffmann_2011
k3 = -1.718; ? ? ? ? ? ? ? ? ? ?% Empirical values taken from Hoffmann_2011
k4 = -0.655; ? ? ? ? ? ? ? ? ? ?% Empirical values taken from Hoffmann_2011
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Parameters for blade flapping computation
k_a1s = 1.5 / 4.0; ? ? ? ? ? ? ?% Gain in linear relationship between wind velocity and flapping angle [deg/(m/s)]
k_beta = 0.23; ? ? ? ? ? ? ? ? ?% Stiffness of the propeller blades [Nm/rad]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Real airframe data
CoG_real = [0;0;0.001]; ? ? ? ? % Location of center of gravity w.r.t. geometric center (in Body axes) [m]
mass_real = 0.550; ? ? ? ? ? ? ?% Complete airframe mass [kg]
Jxx = 0.003960; ? ? ? ? ? ? ? ? %
Jxy = 0; ? ? ? ? ? ? ? ? ? ? ? ?%
Jxz = 0; ? ? ? ? ? ? ? ? ? ? ? ?%
Jyx = 0; ? ? ? ? ? ? ? ? ? ? ? ?%
Jyy = 0.003845; ? ? ? ? ? ? ? ? % Moment of inertia for multirotor w.r.t center of gravity [kg*m^2]
Jyz = 0; ? ? ? ? ? ? ? ? ? ? ? ?%
Jzx = 0; ? ? ? ? ? ? ? ? ? ? ? ?%
Jzy = 0; ? ? ? ? ? ? ? ? ? ? ? ?%
Jzz = 0.007350; ? ? ? ? ? ? ? ? %
J_real = [Jxx Jxy Jxz;Jyx Jyy Jyz;Jzx Jzy Jzz]; % Moment of inertia matrix
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% MotorMatrix_real holds all the information about the actual performance
% of each actuator. The data is arranged as one row per motor/prop combo:
% 1 ? ? ?: Motor arm angle measured clockwise (looking from above) from the positive X axis (forward direction) [deg]
% 2 ? ? ?: Distance of prop/motor in X/Y plane from the geometric center of the airframe [m]
% 3 ? ? ?: Distance of prop/motor in Z direction from the geometric center of the airframe [m]
% 4 ? ? ?: Direction of prop rotation: -1 for CW, +1 for CCW [unitless]
% 5 ? ? ?: Control effectiveness of the actuator (nominally 1.0)
% 6 ? ? ?: First-order motor transfer function time constant [sec]
% 7..8 ? : Two coefficients that describe the RPM to thrust [N] transfer function for static conditions [a1 a2]
% ? ? ? ? ?Thrust = a1 * RPM + a2 * RPM^2
% 9..10 ?: Two coefficients that describe the RPM to torque [Nm] transfer function for static conditions [b1 b2]
% ? ? ? ? ?Torque = b1 * RPM + b2 * RPM^2
% 11 ? ? : Minimum RPM value of the actuator
% 12 ? ? : Maximum RPM value of the actuator
% 13..15 : Rotations of thrust vector around Body-fixed axes away from nominal direction [deg]
% ? ? ? ? ?Nominal direction of thrust vector is [0;0;-1]
% ? ? ? ? ?Rotation order from body to motor axes is Yaw/Pitch/Roll (Euler angle sequence (1,2,3))
% 16 ? ? : Propeller diameter [m]
% 17 ? ? : Propeller mass [kg]
MotorMatrix_real = [045 , 0.170 , -0.028 , -1 , 1.0 , 0.010 , [9.6820 , 0.010872]*1e-5 , [1.4504 , 0.0016312]*1e-6 , 0000 , 6000 , [0.0 , 0.0 , 0.0] , 8*2.54/100 , 11/1000; ...
? ? ? ? ? ? ? ? ? ? 135 , 0.170 , -0.028 , +1 , 1.0 , 0.010 , [9.6820 , 0.010872]*1e-5 , [1.4504 , 0.0016312]*1e-6 , 0000 , 6000 , [0.0 , 0.0 , 0.0] , 8*2.54/100 , 11/1000; ...
? ? ? ? ? ? ? ? ? ? 225 , 0.170 , -0.028 , -1 , 1.0 , 0.010 , [9.6820 , 0.010872]*1e-5 , [1.4504 , 0.0016312]*1e-6 , 0000 , 6000 , [0.0 , 0.0 , 0.0] , 8*2.54/100 , 11/1000; ...
? ? ? ? ? ? ? ? ? ? 315 , 0.170 , -0.028 , +1 , 1.0 , 0.010 , [9.6820 , 0.010872]*1e-5 , [1.4504 , 0.0016312]*1e-6 , 0000 , 6000 , [0.0 , 0.0 , 0.0] , 8*2.54/100 , 11/1000];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Nominal airframe data (without disturbance/uncertainties)
CoG_nominal = [0;0;0.001]; ? ? ?% Location of center of gravity w.r.t. geometric center (in Body axes) [m]
mass_nominal = 0.550; ? ? ? ? ? % Complete airframe mass [kg]
Jxx = 0.003960; ? ? ? ? ? ? ? ? %?

??3?參考文獻

文章中一些內容引自網(wǎng)絡，會注明出處或引用為參考文獻，難免有未盡之處，如有不妥，請隨時聯(lián)系刪除。

[1] Vervoorst J W .A modular simulation environment for the improved dynamic simulation of multirotor unmanned aerial vehicles[J]. ?2016.文章來源地址http://www.zghlxwxcb.cn/news/detail-690406.html

??4 Matlab代碼、Simulink實現(xiàn)

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