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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 facilitate the experimental simulation and verification of the quadrotor UAV control algorithm, a four-rotor UAV visualization trajectory tracking simulation system is designed by combining Solidworks and Matlab / SimMechanics toolbox. Solidworks is used to build a 3D rotor The model is imported into Matlab / SimMechanics through Solidworks and Matlab conversion interface. Matlab / SimMechanics provides a three-dimensional visualization window which can display real-time simulation status of UAV. The simulation platform is implemented in Matlab / SimMechanics environment, With the convenience of communication with Matlab / Simulink, the control algorithm designed by Simulink can be conveniently added to the simulation system for verification and parameter tuning, as well as attitude analysis and data analysis. The trajectory tracking simulation results show that the quadrotor is unmanned The visualized trajectory tracking simulation system is visual, accurate and reliable. It can research and test the control algorithm well and is of great value to the research and development of quadrotor UAVs and control algorithms.