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Teaching Tool for a Control Systems Laboratory Using a Quadrotor as a Plant in MATLAB

机译：MATLAB中使用四旋翼作为工厂的控制系统实验室的教学工具

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摘要

This paper presents a MATLAB-based application to teach the guidance, navigation, and control concepts of a quadrotor to undergraduate students, using a graphical user interface (GUI) and 3-D animations. The Simulink quadrotor model is controlled by a proportional integral derivative controller and a linear quadratic regulator controller. The GUI layout's many components can be easily programmed to perform various experiments by considering the simulation of the quadrotor as a plant; it incorporates control systems (CS) fundamentals such as time domain response, transfer function and state-space form, pole-zero location, root locus, frequency domain response, steady-state error, position and disturbance response, controller design and tuning, unity, and the use of a Kalman filter as a feedback sensor. 3-D animations are used to display the quadrotor flying in any given condition selected by the user. For each simulation, users can view the output response in the form of 3-D animations, and can run time plots. The quadrotor educational tool (QET) helps students in the CS laboratory understand basic CS concepts. The QET was evaluated based on student feedback, grades, satisfaction, and interest in CS.
机译：本文介绍了一个基于MATLAB的应用程序，它使用图形用户界面（GUI）和3D动画向本科生教授四旋翼的指导，导航和控制概念。 Simulink四旋翼模型由比例积分微分控制器和线性二次调节器控制器控制。通过考虑将四旋翼作为工厂进行仿真，可以轻松地对GUI布局的许多组件进行编程以执行各种实验。它结合了控制系统（CS）的基本原理，例如时域响应，传递函数和状态空间形式，零极点位置，根轨迹，频域响应，稳态误差，位置和干扰响应，控制器设计和调整，统一，并使用卡尔曼滤波器作为反馈传感器。 3-D动画用于显示用户选择的任何给定条件下的四旋翼飞行器。对于每个模拟，用户可以以3D动画的形式查看输出响应，还可以运行时间图。四旋翼教育工具（QET）帮助CS实验室的学生了解CS的基本概念。根据学生的反馈，成绩，满意度和对CS的兴趣来评估QET。

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