功能描述：
據(jù)對(duì)四旋翼的模型進(jìn)行受力分析，推到出四旋翼的機(jī)理模型，根據(jù)機(jī)理模型，在simulink里搭建系統(tǒng)框圖，給系統(tǒng)一定放入輸入，將仿真出四旋翼的運(yùn)動(dòng)軌跡。
% Simulation times, in seconds.
start_time = 0;
end_time = 10;
dt = 0.005;
times = start_time:dt:end_time;
% Number of points in the simulation.
N = numel(times);
% Initial simulation state.
x = [0; 0; 10];
xdot = zeros(3, 1);
theta = zeros(3, 1);
% Simulate some disturbance in the angular velocity.
% The magnitude of the deviation is in radians / second.
deviation = 100;
thetadot = deg2rad(2 * deviation * rand(3, 1) - deviation);
% Step through the simulation, updating the state.
for t = times
% Take input from our controller.
i = input(t);
omega = thetadot2omega(thetadot, theta);
% Compute linear and angular accelerations.
a = acceleration(i, theta, xdot, m, g, k, kd);
omegadot = angular_acceleration(i, omega, I, L, b, k);
omega = omega + dt * omegadot;
thetadot = omega2thetadot(omega, theta);
theta = theta + dt * thetadot;
xdot = xdot + dt * a;
x = x + dt * xdot;
end
聯(lián)系：highspeedlogic
QQ ：1224848052
微信：HuangL1121
郵箱：1224848052@qq.com
網(wǎng)站：http://www.mat7lab.com/
網(wǎng)站：http://www.hslogic.com/
微信掃一掃：
|
