Co-simulation Research Based on Position Tracking of Quadrotor Vehicles

摘要

Quadrotor vehicles have are used in many applications for their distinct advantages over other unmanned air vehicles(UAVs), Position tracking control is a very important issue of the quadrotor vehicle's attention. This paper proposes a method of combining automatic dynamic analysis of mechanical systems with Matlab/Simulink, and establishes a virtual prototype model of Quadrotor vehicles with real properties of controlled objects.The effectiveness of the designed multi-loop sliding mode PID controller is verified by joint simulation and compared with the traditional PID position tracking control simulation results. Simulation results show that the Co-simulation results can avoid the cumbersome derivation process of traditional mathematical modeling and prove that the position tracking control strategy can effectively track the expected position of the Quadrotor vehicles, and the maximum overshoot and response time are obviously better than the traditional ones.