基于Matlab／Simulink的无人机飞行仿真研究

Study on Flight Simulation of an UAV Based on Matlab/Simulink

该文以某小型无人机为研究对象，基于其数学模型，在Matlab／Simulink环境下并结合Stateflow的有限状态机实现了对该无人机飞行过程的仿真模拟。首先利用Matlab／Simulink，对小型无人机搭建了非线性数学模型，对其飞行控制律进行了研究；然后利用Stateflow模拟了无人机的飞行管理器，实现无人机多模态之间的转换；最后对无人机的控制规律进行了验证。其结果表明了该控制规律的合理性和有效性。

This article takes some small unmanned aerial vehicle （UAV） as the object of study, based on its mathematical model, by combining with Stateflow FSM （finite-state machine）, the analogue simulation during the course of the UAV＇s flight is achieved in the environment of Matlab / Simulink. First, a nonlinear mathematical model for the small UAV is built by using Matlab/Simulink to research its flight control law; and then, the UAV＇s flight management module is simulated by utilizing Stateflow to realize the trans- formation between the multi-flight modes of UAV; finally, the control law of UAV is verified. The verification results show that the rationality and effectiveness of the control law.