四旋翼无人机可视化轨迹跟踪仿真系统  

Visual Trajectory Tracking Simulation System for Quadrotor UAV

作　　者：许江阴 赵宏强[1,2] 邓宇[1,2] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,长沙410083 [2]山河智能装备股份有限公司,长沙410100

出　　处：《计算机测量与控制》2017年第3期130-133,139,共5页Computer Measurement &Control

基　　金：国家科技支撑计划(2014BAD06B07-1);湖南省军民融合专项

摘　　要：为了便于对四旋翼无人机控制算法进行实验仿真和验证,联合Solidworks和Matlab/SimMechanics工具箱设计了一种四旋翼无人机可视化轨迹跟踪仿真系统;利用Solidworks搭建了四旋翼无人机三维实体模型,并通过Solidworks和Matlab转换接口将该实体模型导入到Matlab/SimMechanics中;Matlab/SimMechanics提供了了三维可视化窗口,可以显示无人机的实时仿真状态;仿真平台在Matlab/SimMechanics环境中实现,与Matlab/Simulink通信方便,可方便的将Simulink设计好的控制算法添加到仿真系统中,以进行验证和参数整定,还具有姿态分析和数据分析等功能;轨迹跟踪仿真结果表明,四旋翼无人机可视化轨迹跟踪仿真系统直观可视,准确可靠,能较好地对控制算法进行研究和测试,对四旋翼无人机以及控制算法的研究和开发具有重要价值。In order to facil itate the simulation and verification of the quadrotor UAV control algorithm, combination of Sol idworks and Matlab/SimMechanics toolbox designed a quadrotor UAV visual trajectory tracking simulation system. Using Solidworks built a quadrotor UAV three - dimensional entity model and imported the model into Matlab/SimMechanics through Solidworks and Matlab conversion inter-face. Matlab / SimMechanics provides a three - dimensional visualization window？ and can display the status of real -time simulation of UAV. Simulation platform is realized in Matlab/SimMechanics environment, and easy to communicate with Matlab/Simulink, and can added control algorithm designed by Simulink to simulation system easily for verification and parameter tuning, also has posture analysis and data a-nalysis and other functions. The result of trajectory tracking simulation show that quadrotor UAV visual trajectory tracking simulation sys-tem is intuitive and visual？ accurate and reliable？ and can research and test of control algorithm. It has important value for the research and development of the quadrotor UAV and control algorithm.

关 键 词：四旋翼无人机 可视化仿真系统 实体建模 轨迹跟踪 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]