JI Jiang1， HAN Jia-ning2， MENG Li-fan1
（1. School of Instrument and Electronics, North University of China, Taiyuan 030051, China；2. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing 210023, China）
Abstract： In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle (UAV) and carry out experimental simulation and verification of relevant control algorithms, this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft, and used the Newton-Euler method to derive the non-linear dynamic equations. Aiming at improving the modeling accuracy and system integrity of the quadrotor, the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox. The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor. Based on this, the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning. The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system.
Key words： quadrotor unmanned aerial vehicle (UAV)； physical system modeling； parameter tuning； tracking
CLD number： V279 doi： 10.3969/j.issn.1674-8042.2020.02.009
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基于Simscape的四旋翼无人机建模与仿真
冀 将1， 韩嘉宁2， 孟立凡1
（1. 中北大学 仪器与电子学院， 山西 太原 030051；2. 南京师范大学 电气与自动化工程学院， 江苏 南京 210023）
摘 要： 为了加速并简化四旋翼无人机的设计以及进行相关控制算法的实验仿真和验证， 针对四旋翼飞行器的机械结构和飞行原理分析了其系统动力学模型， 利用牛顿-欧拉方法推导得到机体非线性动力学方程。 为了提高四轴飞行器的建模精度和系统完整性， 联合计算机辅助设计（CAD）软件和Matlab/Simscape工具箱进行物理系统建模。 利用CAD软件搭建的四旋翼三维实体模型导入到Simscape仿真平台构建四旋翼的机体以及动力系统模型， 并在此基础上将Simulink设计的控制算法添加到仿真平台， 方便进行实验验证和参数整定。 仿真结果表明， 所设计的飞行器能够较好地实现悬停和轨迹跟踪， 满足系统的控制性能要求。
关键词: 四旋翼无人机； 物理系统建模； 参数整定； 轨迹跟踪
引用格式： JI Jiang， HAN Jia-ning， MENG Li-fan. Modeling and simulation of quadrotor UAV based on Simscape. Journal of Measurement Science and Instrumentation, 2020, 11（2）： 169-176. ［doi： 10.3969／j.issn.1674-8042.2020.02.009］
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