基于Adams与Matlab的四旋翼飞行器控制仿真  

Simulation on Quadcopter Control Based on Adams and Matlab

作　　者：胡锦添[1] 舒怀林[1] 

机构地区：[1]广州大学机械与电气工程学院

出　　处：《自动化与信息工程》2012年第5期25-28,共4页Automation & Information Engineering

摘　　要：为了避免推导四旋翼飞行器动力学方程的繁琐过程,提高其机械系统与控制系统的设计效率,在三维绘图软件Solidworks中建立四旋翼飞行器的实体模型,然后通过动力学仿真软件Adams的接口模块Adams/control与Matlab进行数据交换,利用Matlab/Simulink搭建了四旋翼飞行器控制系统的仿真平台,最终实现基于Matlab与Adams的四旋翼飞行器的联合动态仿真。同时验证了该系统具有良好的响应特性与跟踪特性,体现了Adams与Matlab联合仿真的可行性与优越性。To avoid the complex process of deducing the dynamical equation of Quadcopter and improve the design efficiency of Quadcopter＇s mechanical system and control system, a 3D model of Quadcopter is built in the 3D design software Solidworks, and data exchange is done through the interface modular part（Adams/control） of the dynamic simulation software Adams. The simulation platform of Quadcopter control system is established by using simulink module of Matlab. Finally, dynamic co-simulation based on Matlab and Adams is achieved. Meanwhile, the good response characteristic and tracking characteristic of the system are validated, and the feasibility and advantage of the co-simulation with Adams and Matlab are reflected.

关 键 词：四旋翼 飞行器 ADAMS MATLAB 控制仿真 

分 类 号：V249[航空宇航科学与技术—飞行器设计] TP391.9[自动化与计算机技术—计算机应用技术]