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