quadrotorsimV2

基于simulink的四旋翼飞行器动力学建模与简单PID控制。

% KF_setup.m           19/11/2013
%Quadrotor Sim 
% 
%
% Purpose: to declare initial values
%
%%
%% sensor noises
position_uncertainty_var = （20/3600*pi/180）^2*ones（31）;
%% simulation set up
step_time = 0.5;                       % simulation step time（sec）
end_time  = 1000;                   % simulation end time （sec）
%end_time  = 86400;
%% attitude estimator gains
Tatd  = 0.5;                          % attitude estimator update time （sec）
Tqint = 0.5;                         % discrete quaternion integration period （sec）
Tsen_out = 0.5;                      % sensor output period （sec）
TkfProp = 0.5;                       % Kalman filter propagation period （sec）
KfupdatePeriodInCycle = 1;           % Kalman filter update period （propagation cycle）
f_bw_atd = 0.02;  

 属性            大小     日期    时间   名称
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     文件       1320  2014-02-12 14:39  quadrotorsimV2\license.txt

     文件      40654  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\Brushless-motor.jpg

     文件     152154  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\control.bmp

     文件      97106  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\filter.png

     文件     305089  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\imu.jpg

     文件       2258  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\KF_setup.m

     文件     214187  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\Quadrotor.png

     文件     307624  2014-02-12 14:39  quadrotorsimV2\quadrotorsim\quadrotorsim.mdl

     文件        324  2014-09-24 10:50  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim\allrptinfo.mat

     文件        513  2014-09-24 10:50  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim\geninfo.mat

     文件      90079  2014-09-24 15:03  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim\mdladvinfo.mat

     文件     115812  2014-09-24 10:50  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim\model_diagnose_custom.html

     文件     129008  2014-09-24 10:50  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim\report.html

     文件     129008  2014-09-24 10:50  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim\report_544.html

     文件         85  2014-09-24 10:49  quadrotorsimV2\quadrotorsim\slprj\sl_proj.tmw

     目录          0  2014-09-24 10:50  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_\quadrotorsim

     目录          0  2014-09-24 10:49  quadrotorsimV2\quadrotorsim\slprj\modeladvisor\com_2emathworks_2eSimulink_2eUpgradeAdvisor_2eUpgradeAdvisor_

     目录          0  2014-09-24 10:49  quadrotorsimV2\quadrotorsim\slprj\modeladvisor

     目录          0  2014-09-24 10:49  quadrotorsimV2\quadrotorsim\slprj

     目录          0  2014-09-24 15:03  quadrotorsimV2\quadrotorsim

     目录          0  2014-06-07 08:55  quadrotorsimV2

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