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

  1.  
  2.           
  3.           
  4.            
  5.            %%%%%%%%%%%%%%% desired position  %%%%%%%%%%%%%%%%%%%%%%
  6.            
  7.            xdes = 10;
  8.            
  9.            ydes = 18;
  10.            
  11.            zdes = -20;
  12.            
  13.            %%%%%%%%%%%%%%%structural parameters %%%%%%%%%%%%%%%%%%%
  14.            
  15.            m = 0.5;
  16.            
  17.            g = 9.8;
  18.            
  19.            Ixx =0.114;
  20.            
  21.            Iyy = 0.114;
  22.            
  23.            Izz = 0.158;
  24.            
  25.            yaw = 3/57.3;
  26.            
  27.            L = 0.2;
  28.            
  29.            %%%%%%%%%%%%%%%%%%  save PID for x  %%%%%%%%%%%%%%%%%%%%
  30.            
  31.            kpx = 0.8;
  32.            
  33.            kix = 1e-4;
  34.            
  35.            kdx = 1.3;
  36.            
  37.            %%%%%%%%%%%%%%%%%%  save PID for y  %%%%%%%%%%%%%%%%%%%%
  38.            
  39.            kpy = 0.8;
  40.            
  41.            kiy = 3e-4;
  42.            
  43.            kdy = 1.3;
  44.            
  45.            %%%%%%%%%%%%%%%%%%  save PID for z  %%%%%%%%%%%%%%%%%%%%
  46.            
  47.            kpz = 1.2;
  48.            
  49.            kiz = 1e-6;
  50.            
  51.            kdz = 2;
  52.            
  53.            %%%%%%%%%%%%%%%%%%  save PD for phi  %%%%%%%%%%%%%%%%%%%
  54.            
  55.            kpphi = 2000;
  56.            
  57.            kdphi = 4000;
  58.            
  59.            %%%%%%%%%%%%%%%%%%  save PD for theta  %%%%%%%%%%%%%%%%%
  60.            
  61.            kptheta = 2000;
  62.            
  63.            kdtheta = 4000;
  64.            
  65.            %%%%%%%%%%%%%%%%%%  save PD for psi  %%%%%%%%%%%%%%%%%%%
  66.            
  67.            kppsi = 800;
  68.            
  69.            kdpsi = 4000;
  70.            
  71.            %%%%%%%%%%%%%%%%%%% save tsim %%%%%%%%%%%%%%%%%%%%%%%%%%
  72.            
  73.            tsim = 20;
  74.           
  75.
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3 仿真结果

Matlab模拟四旋翼飞行器PID控制仿真_控制系统

Matlab模拟四旋翼飞行器PID控制仿真_控制系统_02

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.

博主简介：擅长智能优化算法、神经网络预测、信号处理、元胞自动机、图像处理、路径规划、无人机等多种领域的Matlab仿真，相关matlab代码问题可私信交流。

部分理论引用网络文献，若有侵权联系博主删除。

Matlab模拟四旋翼飞行器PID控制仿真_matlab代码_03