基于Simscape的四旋翼无人机物理模型仿真

Physical Model Simulation of Quadrotor UAV Based on Simscape

摘要: 针对四旋翼无人机控制问题，本文设计一种直观准确的仿真模型以提高无人机控制算法的开发速度。由于物理模型比数学模型更容易精确表现无人机在真实环境下所产生的运动学特性，故利用Solidworks软件和Matlab/Simscape工具箱搭建四旋翼无人机可视化物理仿真模型。结合Simulink下的简化电机螺旋桨模型得到完整的无人机仿真模型，在此基础上设计串级PID控制器进行仿真实验。仿真结果表明，所设计的串级PID控制器具有良好控制效果，所搭建的无人机模型能够较好模拟实际无人机的飞行表现。

Abstract: Aiming at the control problem of quadrotor UAV, this paper designs an intuitive and accurate simulation model to improve the development speed of the quadrotor control algorithm. Because the physical model is easier to accurately express the kinematic characteristics of UAV in the real environment than the mathematical model, thus we build the visual physical simulation model of quadrotor UAV by using SolidWorks software and Matlab/Simscape toolbox. Combined with the simplified motor propeller model under Simulink, a complete quadrotor simulation model is obtained. On this basis, we design a cascade PID controller for simulation experiments. The simulation results show that the cascade PID controller designed has a good control effect, and the quadrotor model can simulate well the flight performance of the actual quadrotor.