MatlabSimulink环境下无人机全过程飞行仿真技术研究

南京航空航天大学硕士学位论文Matlab/Simulink环境下无人机全过程飞行仿真技术研究姓名：王永林申请学位级别：硕士专业：控制理论与控制工程指导教师：黄一敏20060201iMatlabStateflowGUISimulinkS-functionMatlab/Simulink/MatlabStateflowGUIiiABSTRACTWiththeincreasingdemandofunmannedaerialvehicle(UAV)inmilitaryapplication,itismoreandmoreimportanttodevelopflightcontrolsystemtechniquesofUAV.Simulationsarewidelyappliedonpresentresearchesofflightcontrolsystems.UAVflightcontrollawanddigitalSimulationresearchforflightenvelopewithMatlabtoolsisthecenterofthisthesis.Atfirst,overalldesignforall-course-flihtsimulationisintroduced.MatlabpowercapabilitynowiscompetentforUAVenvelopeflightsimuliation.Matlab/stateflowhasapowerfunctionoflogicalmanagement.Flightmanagesystemcanbeeditedbystateflowwithcomplexlogicalmanagement.throughthesystemUAVcanflyindependentlyorflybyremotecontrol.ApowerwindowtodisplaythenumberandflightcourseiseditedbyMatlab/GUI,throughthewindowflightcontrolparametersandflightstatecanbeadjusted.Infollow,nonlinearsix-degrees-freedomUAVdynamicmodelisbuilt,thatisbaseofflightsimulation.ArithmeticinMatlabsimulationisanalyzed.UAVflightcontrollawandnavigationmodearegiven.Someflightcourseswitchrulesareresearched.UAVslaunchstabilityandflightcourseprecisionareinfluencedbywind.Throughtheresearchofflightcontrol,somewayarefoundtolowerthewindinfluence.AwindcalculationisalsoprovidedwhentheUAVflightsalongthestraightcourse.Atlast,SimulationinFlightenvelopewithMatlab/Simulinkisisofferedwithdataandgraphtoprovethesimulationdesignissuccessful.KeyWords:unmannedaerialvehicle(UAV),flightcontrol,digitalsimulation,winddisturb,Matlab,stateflow,GUI,()vi2.1............................................................................62.2................................................................................................82.3Simulink...............................................................................102.4Stateflow..................................................................................................112.5......................................................................................112.6..................................................................................................122.7..............................................................................................143.1..............................................................................223.2..............................................................................................233.3......................................................................................243.4......................................................................................254.1..............................................................................284.2......................................................................294.3..............................................................................294.4..............................................................................................314.5..............................................................................................314.6..................................................................................................324.7..................................................................................334.8..................................................................................334.9..........................................................................................344.10..................................................................................364.11......................................................................374.12......................................................384.13..........................................................394.14..............................................404.15/.........................................404.16......................................................................................43vii4.17..............................................................................444.184.8.......................................................454.194.27.............................................455.1Stateflow..............................................................................................495.2Stateflow......................................................................................505.3......................................................................................525.4Stateflow......................................................................545.5......................................................................................555.6..........................................................................565.7MATLAB.................................................................................575.8GUI.............................................................................595.9Simulink...........................................................................596.1.......................................................................