摘要
为提升本科生的工程实践能力,设计了一套基于MATLAB和Gazebo的四旋翼飞行器联合仿真平台。该平台包括飞行器建模模块、控制算法设计模块和仿真结果显示模块。为适应不同的飞行场景,设计了三种具有不同功能的控制器。仿真结果采用了两种显示方式,在MATLAB中显示仿真数据曲线,进行实验结果分析;在Gazebo中显示三维仿真结果动画,使学生直观地看到控制效果。该仿真平台不但适用于教学过程,用以提升学生对系统建模与仿真及控制器设计的理解,对实际飞行器调试也具有指导意义。
In order to improve the engineering practice ability of undergraduates,a joint simulation platform of quadrotor aircraft based on MATLAB and Gazebo is designed.This platform includes the aircraft modeling module,control algorithm design module and simulation result display module.To adapt to different flight scenarios,three controllers with different functions are designed.Two display modes of the simulation results are adopted,the simulation data curve is displayed in MATLAB,and the experimental results are analyzed.The animation of 3D simulation results is displayed in Gazebo,so that students can see the control effect intuitively.The simulation platform is not only suitable for the teaching process to enhance students’understanding of system modeling and simulation and controller design,but also has guiding significance for the actual aircraft debugging.
作者
李瑞
史莹晶
李佳津
LI Rui;SHI Yingjing;LI Jiajin(School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China)
出处
《实验技术与管理》
CAS
北大核心
2021年第8期190-194,199,共6页
Experimental Technology and Management
基金
国家自然科学基金项目(61973055)
电子科技大学教改项目(JYJG201941,2016XJYYB027)。
