小型四旋翼直升机的建模与仿真控制

针对实现对小型四旋翼直升机的飞行控制,为提高飞行性能和加强稳定性,根据四旋翼直升机特有的机械结构和飞行原理,利用牛顿-欧拉方程建立了小型四旋翼直升机的飞行动力学数学模型,而且对该型进行了合理的简化.同时在Matlab/Simulink仿真环境下,采用直升机动力学模型搭建了模块化、层次化的系统仿真图,并通过PID控制算法对直升机悬停状态进行仿真,实现了直升机姿态控制.仿真结果表明在具有小扰动的条件下,模型能够仿真小型四旋翼直升机的飞行状态,满足直升机飞行姿态的控制要求.

Modeling And Simulation Control Of a Small-sized Quadrotor Helicopter

In order to control the flight of a small - sized quadrotor helicopter,the flight dynamics model is set up using Newton - Euler equations and simplified properly,which is based on the unique mechanical structure and its flight principle.At the same time in the Matlab/Simulink simulation environment,a modular and hierarchical system simulation graphics is built according to the dynamic model of helicopter.And the simulated control is carried out using PID control algorithm in the state of hover,completing th...