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基于PD控制器的四旋翼无人机群飞行控制系统simulink建模与仿真

news 2025/8/6 12:02:49

1.课题概述

2.系统仿真结果

3.核心程序

4.系统原理简介

5.参考文献

6.完整工程文件

1.课题概述

使用simulink建模四旋翼无人机，然后结合MATLAB实现基于PD控制器的四旋翼无人机群飞行控制系统，仿真输出无人机的飞行模拟，无人机位置变化曲线，速度变化曲线，角度变化曲线等指标。

2.系统仿真结果

3.核心程序

matlab2024b


out = sim("tops.slx");func_plots(out, simkey, ['b'])load position1.mat
t1=ans.Time;
for i = 1:length(t1)posx1(i)=ans.Data(1,:,i);posy1(i)=ans.Data(2,:,i);posz1(i)=ans.Data(3,:,i);
end
load position2.mat
t2=ans.Time;
for i = 1:length(t2)posx2(i)=ans.Data(1,:,i);posy2(i)=ans.Data(2,:,i);posz2(i)=ans.Data(3,:,i);
end
load position3.mat
t3=ans.Time;
for i = 1:length(t1)posx3(i)=ans.Data(1,:,i);posy3(i)=ans.Data(2,:,i);posz3(i)=ans.Data(3,:,i);
endfigure;
subplot(321);
plot(t1,posx1,'LineWidth',2);
hold on
plot(t1,posy1,'LineWidth',2);
hold on
plot(t1,posz1,'LineWidth',2);
grid on
xlabel('time');
ylabel('position');
legend('X','Y','Z');
subplot(322);
plot3(posx1,posy1,posz1,'LineWidth',2);
grid on
xlabel('x');
ylabel('y');
zlabel('z');
title('无人机1')subplot(323);
plot(t2,posx2,'LineWidth',2);
hold on
plot(t2,posy2,'LineWidth',2);
hold on
plot(t2,posz2,'LineWidth',2);
grid on
xlabel('time');
ylabel('position');
legend('X','Y','Z');
subplot(324);
plot3(posx2,posy2,posz2,'LineWidth',2);
grid on
xlabel('x');
ylabel('y');
zlabel('z');
title('无人机2')subplot(325);
plot(t3,posx3,'LineWidth',2);
hold on
plot(t3,posy3,'LineWidth',2);
hold on
plot(t3,posz3,'LineWidth',2);
grid on
xlabel('time');
ylabel('position');
legend('X','Y','Z');
subplot(326);
plot3(posx3,posy3,posz3,'LineWidth',2);
grid on
xlabel('x');
ylabel('y');
zlabel('z');
title('无人机3')load body_velocity1.mat
t1=ans.Time;
for i = 1:length(t1)Vx1(i)=ans.Data(1,:,i);Vy1(i)=ans.Data(2,:,i);Vz1(i)=ans.Data(3,:,i);
end
load body_velocity2.mat
t2=ans.Time;
for i = 1:length(t2)Vx2(i)=ans.Data(1,:,i);Vy2(i)=ans.Data(2,:,i);Vz2(i)=ans.Data(3,:,i);
end
load body_velocity3.mat
t3=ans.Time;
for i = 1:length(t3)Vx3(i)=ans.Data(1,:,i);Vy3(i)=ans.Data(2,:,i);Vz3(i)=ans.Data(3,:,i);
endfigure;
subplot(131);
plot(t1,Vx1,'LineWidth',2);
hold on
plot(t1,Vy1,'LineWidth',2);
hold on
plot(t1,Vz1,'LineWidth',2);
grid on
xlabel('time');
ylabel('velocity');
legend('X','Y','Z');
title('无人机1')subplot(132);
plot(t1,Vx2,'LineWidth',2);
hold on
plot(t1,Vy2,'LineWidth',2);
hold on
plot(t1,Vz2,'LineWidth',2);
grid on
xlabel('time');
ylabel('velocity');
legend('X','Y','Z');
title('无人机2')subplot(133);
plot(t1,Vx3,'LineWidth',2);
hold on
plot(t1,Vy3,'LineWidth',2);
hold on
plot(t1,Vz3,'LineWidth',2);
grid on
xlabel('time');
ylabel('velocity');
legend('X','Y','Z');
title('无人机3')load acceleration1.mat
t1=ans.Time;
for i = 1:length(t1)accx1(i)=ans.Data(1,:,i);accy1(i)=ans.Data(2,:,i);accz1(i)=ans.Data(3,:,i);
end
load acceleration2.mat
t2=ans.Time;
for i = 1:length(t2)accx2(i)=ans.Data(1,:,i);accy2(i)=ans.Data(2,:,i);accz2(i)=ans.Data(3,:,i);
end
load acceleration3.mat
t3=ans.Time;
for i = 1:length(t3)accx3(i)=ans.Data(1,:,i);accy3(i)=ans.Data(2,:,i);accz3(i)=ans.Data(3,:,i);
endfigure;
subplot(131);
plot(t1,accx1,'LineWidth',2);
hold on
plot(t1,accy1,'LineWidth',2);
hold on
plot(t1,accz1,'LineWidth',2);
grid on
xlabel('time');
ylabel('acceleration');
legend('X','Y','Z');
title('无人机1')subplot(132);
plot(t2,accx2,'LineWidth',2);
hold on
plot(t2,accy2,'LineWidth',2);
hold on
plot(t2,accz2,'LineWidth',2);
grid on
xlabel('time');
ylabel('acceleration');
legend('X','Y','Z');
title('无人机2')subplot(133);
plot(t3,accx3,'LineWidth',2);
hold on
plot(t3,accy3,'LineWidth',2);
hold on
plot(t3,accz3,'LineWidth',2);
grid on
xlabel('time');
ylabel('acceleration');
legend('X','Y','Z');
title('无人机3')
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