基于Unity物理引擎的多旋翼无人机仿真模型  

Simulation Model of Multi-rotor UAV Based on Unity Physics Engine

作　　者：石百玉 高岑[2] SHI Bai-Yu;GAO Cen(University of Chinese Academy of Sciences,Beijing 100049,China;Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang 110168,China)

机构地区：[1]中国科学院大学,北京100049 [2]中国科学院沈阳计算技术研究所,沈阳110168

出　　处：《计算机系统应用》2022年第9期409-415,共7页Computer Systems & Applications

摘　　要：本文主要基于Unity物理引擎,以四旋翼无人机作为研究对象,通过建立无人机运行模式的数学模型,进行仿真模型研究.一方面,通过将无人机受力模型直接应用在电机对应位置,来仿真现实物体的受力状态,从而免去了对模型的刚体数学建模,简化了仿真建模过程;另一方面,通过分析无人机运动原理,对无人机进行动力系统和控制系统建模,其中控制系统采用串级PID控制算法进行姿态控制;本文最后,通过飞行实验和测试验证了无人机模型的稳定性、有效性,满足了四旋翼无人机的仿真要求.This study constructs the mathematical model of the unmanned aerial vehicle(UAV) operation mode for simulation model analysis by using the Unity physics engine and taking a quad-rotor UAV as the research object.Specifically, the force state of a real object is simulated by applying the force model of the UAV directly to the corresponding position of the motor, which eliminates the mathematical rigid body modeling of the model and simplifies the simulation modeling process. Additionally, the power system and control system of the UAV are modeled by analyzing the UAV motion principle, where the control system uses the PID cascade control algorithm for attitude control.Finally, the stability and validity of the UAV model are verified by flight experiments, which meet the simulation requirements of quad-rotor UAVs.

关 键 词：UNITY 仿真建模 串级PID控制 多旋翼无人机 姿态控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] V279[自动化与计算机技术—计算机科学与技术]