You can use many ways to tune controllers, including manual tuning and empirical calculations. This example uses the Closed-Loop PID Autotuner block from Simulink Control Design™ software to tune eight controllers used in the attitude and position control of a multirotor. Variables placed in the base workspace configure these variants without the need to modify the data dictionary. Additionally, the model uses Variant Subsystems to manage different configurations of the model. The model's design data is contained in a Simulink data dictionary in the data folder ( uavPackageDeliveryDataDict.sldd). Multirotor - Includes a low-fidelity and mid-fidelity mode, as well as a flight controller including its guidance logic. On Board Computer - Used to implement algorithms meant to run in an onboard computer independent from the Autopilot. These produce Lidar readings from the environment as the aircraft flies through it. Ground Control Station - Used to control and monitor the aircraft while in flight.Įxternal Sensors - Lidar & Camera - Used to connect to a previously-designed scenario or a photorealistic simulation environment.
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