四旋翼MATLAB仿真文件+实验报告

control_sys2

四旋翼MATLAB报告

目录
一、 需求分析	1
1. 背景介绍	1
2. 需求分析	2
二、 系统原理	2
1. 技术方案	2
2. 数学模型	3
三、 控制器的设计与仿真	4
1. 姿态回路控制器的设计	4
2. 位置回路控制器设计	5
3. 仿真结果	6
1． 位置仿真结果	7
2． 姿态仿真结果	8
3． 结果分析	9
四、 实验总结	10

/* Include files */

#include 
#include “blas.h“
#include “quadrotor_control_sfun.h“
#include “c2_quadrotor_control.h“
#include “mwmathutil.h“
#define CHARTINSTANCE_CHARTNUMBER      （chartInstance->chartNumber）
#define CHARTINSTANCE_INSTANCENUMBER   （chartInstance->instanceNumber）
#include “quadrotor_control_sfun_debug_macros.h“
#define _SF_MEX_LISTEN_FOR_CTRL_C（S）   sf_mex_listen_for_ctrl_c（sfGlobalDebugInstanceStructS）;

/* Type Definitions */

/* Named Constants */
#define CALL_EVENT                     （-1）

/* Variable Declarations */

/* Variable Definitions */
static real_T _sfTime_;
static const char * c2_debug_family_names[24] = { “kv“ “Ix“ “Iy“ “Iz“ “m“
  “U1“ “U2“ “U3“ “U4“ “nargin“ “nargout“ “w1“ “w2“ “w3“ “w4“ “ang_x“
  “ang_y“ “ang_z“ “ac_x“ “ac_y“ “ac_z“ “ac_ang_x“ “ac_ang_y“ “ac_ang_z“ };

/* Function Declarations */
static void initialize_c2_quadrotor_control（SFc2_quadrotor_controlInstanceStruct
  *chartInstance）;
static void initialize_params_c2_quadrotor_control
  （SFc2_quadrotor_controlInstanceStruct *chartInstance）;
static void enable_c2_quadrotor_control（SFc2_quadrotor_controlInstanceStruct
  *chartInstance）;
static void disable_c2_quadrotor_control（SFc2_quadrotor_controlInstanceStruct
  *chartInstance）;
static void c2_update_debugger_state_c2_quadrotor_control
  （SFc2_quadrotor_controlInstanceStruct *chartInstance）;
static const mxArray *get_sim_state_c2_quadrotor_control
  （SFc2_quadrotor_controlInstanceStruct *chartInstance）;
static void set_sim_state_c2_quadrotor_control
  （SFc2_quadrotor_controlInstanceStruct *chartInstance const mxArray *c2_st）;
static void finalize_c2_quadrotor_control（SFc2_quadrotor_controlInstanceStruct
  *chartInstance）;
static void sf_gateway_c2_quadrotor_control（SFc2_quadrotor_controlInstanceStruct
  *chartInstance）;
static void initSimStructsc2_quadrotor_control
  （SFc2_quadrotor_controlInstanceStruct *chartInstance）;
static void init_script_number_translation（uint32_T c2_machineNumber uint32_T
  c2_chartNumber uint32_T c2_instanceNumber）;
static const mxArray *c2_sf_marshallOut（void *chartInstanceVoid void *c2_inData）;
static real_T c2_emlrt_marshallIn（SFc2_quadrotor_controlInstanceStruct
  *chartInstance const mxArray *c2_ac_ang_z const char_T *c2_identifier）;
static real_T c2_b_emlrt_marshallIn（SFc2_quadrotor_controlInstanceStruct
  *chartInstance const mxArray *c2_u const emlrtMsgIdentifier *c2_parentId）;
static void c2_sf_marshallIn（void *chartInstanceVoid const mxArray
  *c2_mxArrayInData const char_T *c2_varName void *c2_outData）;
static void c2_info_helper（const mxArray **c2_info）;
static const mxArray *c2_emlrt_marshallOut（const char * c2_u）;
static const mxArray *c2_b_emlrt_marshallOut（const uint32_T c2_u）;
static const mxArray *c2_b_sf_marshallOut（void *chartInstanceVoid void
  *c2_inData）;
static int32_T c2_c_emlrt_marshallIn（SFc2_quadrotor_controlInstanceStruct
  *chartInstance

 属性            大小     日期    时间   名称
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     文件      26429  2016-03-25 10:32  四旋翼MATLAB仿真文件+实验报告\control_sys2\quadrotor_control.slx

     文件     174228  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\quadrotor_control_sfun.mexw64

     文件       2346  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\info\binfo.mat

     文件       9123  2016-03-22 19:33  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\info\chart2_q4F98r1E40zo1QpacKSnfE.mat

     文件       9124  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\info\chart2_qiWqcnvi9xkBKBvgk2hkkH.mat

     文件       9123  2016-03-22 19:01  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\info\chart2_sd2ZJhSL9vMJ9u7BVVyJ5C.mat

     文件       9265  2016-03-22 18:48  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\info\chart2_YJsuDFxV6IiKmUYcHzILiC.mat

     文件      67707  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\c2_quadrotor_control.c

     文件       1146  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\c2_quadrotor_control.h

     文件      74052  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\c2_quadrotor_control.obj

     文件        706  2016-03-22 18:49  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\lccstub.obj

     文件       4125  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\multiword_types.h

     文件         75  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.bat

     文件       9448  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.c

     文件         57  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.def

     文件         57  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.exp

     文件       1532  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.h

     文件        296  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.lib

     文件       2048  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.lmk

     文件        729  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.lmko

     文件       9955  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun.obj

     文件      26729  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun_debug_macros.h

     文件       8275  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun_registry.c

     文件      61359  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\quadrotor_control_sfun_registry.obj

     文件       1098  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\rtwtypes.h

     文件       1114  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\rtwtypeschksum.mat

     文件     230160  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\src\sfun.map

     文件    2881027  2016-03-27 10:52  四旋翼MATLAB仿真文件+实验报告\四旋翼MATLAB报告.docx

     目录          0  2016-03-22 19:33  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\html\chart2_q4F98r1E40zo1QpacKSnfE

     目录          0  2016-03-22 22:56  四旋翼MATLAB仿真文件+实验报告\control_sys2\slprj\_sfprj\quadrotor_control\_self\sfun\html\chart2_qiWqcnvi9xkBKBvgk2hkkH

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