无人机的数值仿真matlab代码

以下是一个简单的无人机数值仿真的MATLAB代码示例，仅供参考：

% 无人机数值仿真

% 定义常数
g = 9.81; % 重力加速度
m = 1.2; % 无人机质量
b = 1; % 无人机空气阻力系数
k = 0.1; % 无人机升力系数

% 定义初始状态
x0 = 0; % 位置
y0 = 0;
z0 = 0;
vx0 = 10; % 速度
vy0 = 0;
vz0 = 0;
phi0 = 0; % 姿态
theta0 = 0;
psi0 = 0;

% 定义仿真时间和步长
t_end = 10;
dt = 0.01;
t = 0:dt:t_end;
n = length(t);

% 初始化状态向量
x = zeros(n,1);
y = zeros(n,1);
z = zeros(n,1);
vx = zeros(n,1);
vy = zeros(n,1);
vz = zeros(n,1);
phi = zeros(n,1);
theta = zeros(n,1);
psi = zeros(n,1);

% 设置初始状态
x(1) = x0;
y(1) = y0;
z(1) = z0;
vx(1) = vx0;
vy(1) = vy0;
vz(1) = vz0;
phi(1) = phi0;
theta(1) = theta0;
psi(1) = psi0;

% 循环仿真
for i=2:n
    % 计算加速度和角加速度
    ax = -b/m*vx(i-1) + k/m*(sin(theta(i-1))*cos(psi(i-1))*sin(phi(i-1)) + cos(theta(i-1))*sin(psi(i-1)));
    ay = -b/m*vy(i-1) + k/m*(sin(theta(i-1))*sin(psi(i-1))*sin(phi(i-1)) - cos(theta(i-1))*cos(psi(i-1)));
    az = -g - b/m*vz(i-1) + k/m*(cos(theta(i-1))*sin(phi(i-1)));
    p = 0;
    q = 0;
    r = 0;
    
    % 计算速度、位置和姿态
    vx(i) = vx(i-1) + ax*dt;
    vy(i) = vy(i-1) + ay*dt;
    vz(i) = vz(i-1) + az*dt;
    x(i) = x(i-1) + vx(i-1)*dt;
    y(i) = y(i-1) + vy(i-1)*dt;
    z(i) = z(i-1) + vz(i-1)*dt;
    phi(i) = phi(i-1) + p*dt;
    theta(i) = theta(i-1) + q*dt;
    psi(i) = psi(i-1) + r*dt;
end

% 绘制无人机轨迹
plot3(x,y,z);
xlabel('X');
ylabel('Y');
zlabel('Z');
grid on;

需要注意的是，这个示例代码只是一个简单的模型，实际的无人机数值仿真模型可能更复杂，需要考虑更多的因素和参数。