UAV-matlab 无人机PID控制及智能PID控制器设计及matlab仿真程序

无人机PID控制及智能PID控制器设计及matlab仿真程序，并附录李玮的学位论文 无人机飞行PID控制及智能PID控制技术研究

%该程序为“无人机飞行PID控制及智能PID控制技术研究-李玮”论文中第五章滚转控制律的分析与设计程序
%该程序为5.2节“倾斜姿态保持/控制模态”中状态点G在智能PID控制下的仿真程序
%该程序的核心模块为simulink程序模块，“PIDFig5_2.mdl”


clear all
close all

%PID控制器控制参数
% Kp1=0.02;
% Ki1=0.2;
% Kd1=0.0;
% 
% Kp2=1.5;
% Ki2=0.2;
% Kd2=1.8;


Kp2=0.02;
Ki2=0.2;
Kd2=0.0;

Kp1=1.5;
Ki1=0.2;
Kd1=1.8;

%状态点A处，其纵向线性化状态方程状态矩阵
A=[-0.09810.131010.0411;...
    -14.733-1.2100-0.53480;...
    -7.5150.0108-0.17910;...
    0100];
B=[0-0.0189;-28.524-5.0600;0-6.2630;00];
%B=[0;-28.524;0;0];
C=[1000;...
    0100;...
    0010;...
    0001];
D=[00;00;00;00];
%D=[0;0;0;0];

sim（‘PIDFig5_5G.mdl‘）;

figure（）
plot（Time.signals.values（:）X_1.signals.values）
grid on
title（‘智能PID控制下航向角阶跃响应（点G）‘）

figure（）
plot（Time.signals.values（:）X_4.

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       1001  2015-05-19 20:51  无人机飞行器 论文+matlab仿真\UAV_Control_PID\Heading_IntelligencePIDFig5_5_G.m

     文件        920  2015-05-19 19:29  无人机飞行器 论文+matlab仿真\UAV_Control_PID\Heading_RoutinePIDFig5_5_G.asv

     文件       1000  2015-05-19 20:45  无人机飞行器 论文+matlab仿真\UAV_Control_PID\Heading_RoutinePIDFig5_5_G.m

     文件        931  2015-05-16 12:16  无人机飞行器 论文+matlab仿真\UAV_Control_PID\High_IntelligencePIDFig4_21_D.m

     文件        931  2015-05-16 12:16  无人机飞行器 论文+matlab仿真\UAV_Control_PID\High_RoutinePIDFig4_20_D.m

     文件        820  2015-05-16 12:23  无人机飞行器 论文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_A.m

     文件        815  2015-05-16 12:25  无人机飞行器 论文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_B.m

     文件        917  2015-05-15 19:42  无人机飞行器 论文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_C.m

     文件        919  2015-05-16 12:12  无人机飞行器 论文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_D.m

     文件        916  2015-05-15 19:43  无人机飞行器 论文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_E.m

     文件        919  2015-05-16 12:14  无人机飞行器 论文+matlab仿真\UAV_Control_PID\IntelligencePIDFig4_8_F.m

     文件      36701  2015-05-15 19:58  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_20.mdl

     文件      53416  2015-05-15 20:06  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_21.mdl

     文件     259584  2015-05-15 20:07  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_21_sfun.mexw32

     文件      35106  2015-05-15 18:04  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_5.mdl

     文件      34573  2015-05-15 19:24  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_5G.mdl

     文件      47585  2015-05-15 18:40  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_8.err

     文件      52045  2015-05-16 12:24  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_8.mdl

     文件      51347  2015-05-15 19:28  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_8G.mdl

     文件     259584  2015-05-15 19:35  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_8G_sfun.mexw32

     文件     259584  2015-05-16 12:17  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig4_8_sfun.mexw32

     文件      32653  2015-05-19 18:52  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig5_2.mdl

     文件      45412  2015-05-19 20:47  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig5_5.mdl

     文件      72874  2015-05-19 20:50  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig5_5G.mdl

     文件     282112  2015-05-19 20:52  无人机飞行器 论文+matlab仿真\UAV_Control_PID\PIDFig5_5G_sfun.mexw32

     文件        774  2015-05-19 18:56  无人机飞行器 论文+matlab仿真\UAV_Control_PID\Roll_RoutinePIDFig5_2_G.m

     文件        822  2015-05-15 12:29  无人机飞行器 论文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_A.asv

     文件        816  2015-05-16 11:50  无人机飞行器 论文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_A.m

     文件        965  2015-05-15 12:09  无人机飞行器 论文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_B.asv

     文件        814  2015-05-16 11:50  无人机飞行器 论文+matlab仿真\UAV_Control_PID\RoutinePIDFig4_5_B.m

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