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基于Simscape的四旋翼无人机建模与仿真（英文）.docx

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基于Simscape的四旋翼无人机建模与仿真（英文） Title:ModelingandSimulationofQuadcopterusingSimscape Abstract: Quadcopters,alsoknownasquadrotors,havegainedsignificantpopularityinrecentyearsduetotheirversatilityandabilitytoperformawiderangeoftasks.Theirdesignandcontrolpresentuniquechallenges,makingaccuratemodelingandsimulationcrucialforunderstandingtheirdynamicsandperformance.Thispaperaimstopresentanin-depthstudyonthemodelingandsimulationofaquadcopterusingSimscape,apowerfulmulti-domainphysicalmodelingtool. 1.Introduction Theintroductionprovidesanoverviewofquadcoptersandtheirapplications,highlightingtheneedforaccuratemodelingandsimulation.Thepurposeofthispaperisstated,alongwithabriefoutlineofthesectionstofollow. 2.QuadcopterDynamics Thissectionpresentsanoverviewofthedynamicsofaquadcopter,includingitsdegreesoffreedom,aerodynamicforces,andmoments.Thegoverningequationsofmotionarederived,incorporatingtheeffectsofpropulsion,aerodynamics,andcontrolinputs.Theimportanceofacomprehensiveunderstandingofquadcopterdynamicsisemphasized. 3.ModelingtheQuadcopterinSimscape Simscapeisintroducedasapowerfultoolformodelingmulti-domainphysicalsystems.TheuseofSimscapeallowsfortheintegrationofelectrical,mechanical,andcontrolsystems.ThecomponentsandlibrariesavailableinSimscapearediscussed,alongwiththeirapplicationsinmodelingaquadcopter.ThestepsforbuildingaquadcoptermodelinSimscapeareoutlined. 4.ImplementationandSimulation ThissectionexplainstheimplementationofthequadcoptermodelinSimscape,includingtheselectionofappropriateparametersandsubsystems.Thesimulationsetupisdescribed,alongwiththeinputconditionsandcontrolsignalsusedtotestthemodel.Theresultsofthesimulationsarepresentedandanalyzed,highlightingtheaccuracyandeffectivenessofthemodel. 5.ValidationoftheModel TovalidatetheaccuracyofthequadcoptermodelinSimscape,acomparisonismadewithexperimentaldataorexistingestablishedmodels.Variousmetricssuchaspositiontracking,attitudecontrol,andpowerconsumptionareconsidered.Theresultsofthevalidationstudyarepresented,providingevide