飞翼无人机动力学与控制分析Matlab代码.rar

%/////////////////////////////////////////////////////////////////////////% % % % - Name : UAV_Data.m % % - UAV Parameters are defined. % % % % % % % %/////////////////////////////////////////////////////////////////////////% %.. Global Variables % global AR S B CBAR g % global Mass I_TENSOR % % % global CD_alpha CD_0 CD_alpha_2 CD_beta CD_beta_2 CD_del_e CD_q % global CL_alpha CL_del_e CL_q CL_0 % global CY_beta CY_del_a CY_p CY_r CY_0 % global Cl_beta Cl_del_a Cl_del_a Cl_p Cl_r Cl_0 % global Cm_alpha Cm_q Cm_del_e Cm_0 % global Cn_beta Cn_del_a Cn_del_a Cn_p Cn_r Cn_0 % % global K_T K_M % % global tau_T Omega_act zeta_act % % % global K_p_vt K_p_q K_p_theta K_p_roll K_p K_p_r K_p_h % global K_I_roll K_I_vt K_I_q K_I_theta K_I K_I_r K_I_h % global K_d_roll K_d_vt K_d_q K_d_theta K_d K_d_r K_d_h %.. Gravity g = 9.81 ; %Gravity (m/s^2) %.. UAS Configuration Data AR = 3.68 ; % Aspect Ratio S = 0.22 ; % Wing Area (m^2) B = 0.90; % Wing Span (m) CBAR = 0.25 ; % Mean Aerodynamic Chord (m) Mass = 1 ; % UAS Total Mass (kg) I_xx = 0.023 ; % Moment of Inertia I_yy = 0.020 ; I_zz = 0.033 ; I_xz = 0.006 ; I_TENSOR = [ I_xx, 0.0, -I_xz ; % The inertia tensor 0.0, I_yy, 0.0 ; -I_xz, 0.0, I_zz ]; %.. UAV Engine Parameters K_T = 2.015*10^(-6) ; %Kg · m K_M = 2.444*10^(-10) ; %Kg · m^2 %.. UAV Actuator Parameters Omega_act = 9.774 ; % Natural Frequency zeta_act = 0.801 ; % damping ratio tau_T = 0.19 ; % Time Constant of Throttle Serv %.. UAV Autopilot Gains proportional K_p_vt = 1.4665 ; % Proportional Gain of Speed K_p_q = 0.3 ; % Proportional Gain of Pitch Rate K_p_theta = 8.2978 ; % Proportional Gain of Pitch Angle K_p_roll = 22.2973 ; % Proportional Gain of Roll Angle K_p = 0.2631 ; % Proportional Gain of Roll Rate K_p_r = 1.02 ; % Proportional Gain of Yaw Rate K_p_h = 0.6879 ; % Proportional Gain of Altitud %.. UAV Autopilot Gains Integral K_I_roll = 0.0329 ; % Integral Gain of Roll Angle K_I_vt = 0.0000 ; % Integral Gain of Speed K_I_q = 7.5000 ; % Integral Gain of Pitch Rate K_I_theta = 0.2536 ; % Integral Gain of Pitch Angle K_I = 5.5033 ; % Integral Gain of Roll Rate K_I_r = 0.0011 ; % Integral Gain of Yaw Rate K_I_h = 0.2373 ; % Integral Gain of Altitud %.. UAV Autopilot Gains derivative K_d_roll = 0.7683 ; % derivative Gain of Roll Angle K_d_vt = 0.2171 ; % derivative Gain of Speed K_d_q = 0.0591 ; % derivative Gain of Pitch Rate K_d_theta = 0.1088 ; % derivative Gain of Pitch Angle K_d = 0.0470 ; % derivative Gain of Roll Rate K_d_r = 0.0000 ; % derivative Gain of Yaw Rate K_d_h = 0.1282 ; % derivative Gain of Altitud %.. UAV Aerodynamics Data % Drag Coefficient CD_alpha = 0.0084 ; CD_0 = 0.0208 ; CD_alpha_2 = 1.3225 ; CD_beta = -0.0001 ; CD_beta_2 = 0.0796 ; CD_del_e = 0.20 ; CD_q = 0.00 ; % Lift Force Coefficient CL_alpha = 3.2684 ; CL_del_e = 0.7237 ; CL_q = 6.1523 ; CL_0 = 0.0389 ; % Side Force Coefficient CY_beta = -0.1285 ; CY_del_a = 0.0299 ; CY_p = -0.0292 ; CY_r = -0.0355 ; CY_0 = 0.000 ; % Rolling Moment Coefficient Cl_beta = -0.0345 ; Cl_0 = 0.000 ; Cl_del_a = 0.182 ; Cl_p = -0.3318 ; Cl_r = 0.0304 ; % Pitching Moment Coefficient Cm_alpha = -0.2625 ; Cm_q = -1.8522 ; Cm_del_e = -0.2845 ; Cm_0 = -0.0112 ; % Yawing Moment Coefficient Cn_beta = 0.0252 ; Cn_0 = 0.0000 ; Cn_del_a = -0.0102 ; Cn_p = 0.002 ; Cn_r = -0.0192 ;