多旋翼无人飞行器的数学建模与matlab仿真

摘要：多旋翼飞行器通常也被称为多旋翼直升机，其主要由若干旋翼组成，而旋翼则由包括一系列处在对角位置的螺旋桨构成，可以进行包括垂直起降空中悬停等一系列飞行动作，多旋翼飞行器大部分为无人驾驶。进入二十一世纪以来随着科技的进步，技术瓶颈被突破，世界各国科研机构发展出了多种型号多种功能的多旋翼飞行器。它非常适合用于空中军事侦察、长期进行滞空探索以及航拍等工作，在军用及民用领域都有很多价值。本文以四旋翼的飞行器为目标，考察其整体架构以及动力学性质，并对其工作机理予以了探讨，同时建构了对应的动力学模型。该飞行器能够完成若干飞行状态，包括:向上、向下爬升、空中悬停、圆周飞行、八字飞行、按预定飞行控制信号飞行等飞行状态。论文采用动力学模型来描绘四旋翼飞行器的飞行姿态。而动力学建模工作主要通过考察其飞行机理以及不同状态下的体系架构受力情况，并根据牛顿-欧拉方程得到的，模型建立后在Matlab软件中进行各飞行状态的仿真模拟。文中还分析了多旋翼飞行器发展的技术瓶颈，以及未来可以拓展到其他领域的展望。71070

毕业论文关键字:多旋翼飞行器；动力学模型；Matlab仿真；未来发展展望

Mathematical Modeling and Simulation of Multi - rotor Unmanned Aerial Vehicle

Abstract：Multi-rotor aircraft are also commonly referred to as multi-rotor helicopters. They are a number of propellers consisting of propellers and propellers that are diagonally crossed and can perform a series of flight movements, including vertical lifting and hovering. Since the twenty-first century with the progress of science and technology, technological bottlenecks have been broken, the world's scientific research institutions to develop a variety of models and more functions of multi-rotor aircraft. It is very suitable for air military reconnaissance, long time to monitor the collection of intelligence, aerial photography and other tasks, with high military and civil application value. In this paper, the four rotorcrafts are mainly studied, and the body structure and dynamic characteristics and working principle of the four rotorcraft are analyzed and studied. On this basis, the dynamic model of the four rotorcraft is established. Four rotorcraft can achieve a variety of flight status, including: up, down climb, aerial hover, round flight, character flight, according to the scheduled flight control signal flight and other flight status. The dynamic model is used to describe the flight attitude of the four rotorcraft. The kinetic model is based on the flight principle of the aircraft and the analysis of the force relationship of the body structure under various flight conditions and the simulation model established by the Newton-Euler equation. After the model is established, the flight model is carried out in the Matlab software Simulation simulation. The paper also analyzes the technical bottleneck of the development of multi-rotor aircraft, and the future can be extended to other areas of the outlook.

Keywords: Multi – rotorcraft； dynamic model； Matlab simulation； future development prospect

摘要： I

Abstract： II

一．引言 1

1.1简介 1

1.2研究背景 2

1.2.1多旋翼无人飞行器优点 2

1.2.2 多旋翼无人飞行器有何缺点 3

1.2.3 多旋翼飞行器的发展历史 4

1.2.4 新技术促多旋翼飞行器快速变革多旋翼无人飞行器的数学建模与matlab仿真:http://www.youerw.com/zidonghua/lunwen_80633.html