摘要
Stateflow是有限状态机原理的图形实现,能在仿真过程中进行连续状态间的切换。无人机飞行过程正是多模态飞行控制律的切换过程,是由飞行任务驱动的有限状态机系统。该文描述了如何用Stateflow实现控制模态间的切换,按无人机自主导航的控制逻辑建立了Stateflow仿真模型。仿真结果说明采用Stateflow实现多模态飞行控制律仿真的有效性。
Stateflow implements a variant of the hierarchical tinite state machine, which makes it possible to switch continuous behaviors during a simulation. The process of flight is a task - dived FSM system with limited control modes. In this paper, the operation of switching between flight control modes with stateflow is describled and the finite state machine Stateflow model is built according to autonomous navigation logic. The simulation result indicates that multi - mode simulation is effective for practical UAV project.
出处
《杭州电子科技大学学报（自然科学版）》
2005年第4期34-37,共4页
Journal of Hangzhou Dianzi University：Natural Sciences
关键词
多模态
飞行控制
自主导航
无人机
multi - mode
flight control
autonomous navigation
UAV
