提供多旋翼无人机动力学建模仿真工具，提升设计效率
RotorSuite: A MATLAB/Simulink Toolbox for Tilt Multi-Rotor UAV Modeling
- 基于解析与物理仿真双方法构建多旋翼建模工具
- 支持倾斜/可倾转多旋翼平台的高精度动态模拟
- 适合教学、科研及工业开发快速验证需求
近年来，飞行平台已从被动传感器演变为具备接触感知能力的多功能机器人系统，推动了平台设计的快速发展。标准共面与同轴四旋翼已被具有更强机动性的新型倾斜及可倾转多旋翼平台所补充。为准确分析、控制并验证这些新兴平台的性能，需要精确的建模步骤；然而该过程常耗时、依赖用户且易出错。为此，我们提出一个 MATLAB/Simulink 工具箱，用于通过解析与物理基础方法对广泛类别的多旋翼平台进行建模与仿真。该工具箱名为 RotorSuite，附有详尽文档与示例用例，可作为教学、研究及工业开发中的重要工具。
原文摘要 · Abstract (English)
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by modern tilted and tilting multi-rotor platforms with enhanced maneuverability. To properly analyze, control, and validate the performance of these emerging platforms, an accurate modeling step is required; however, this can be time-consuming, user-dependent and error-prone. To address this issue, we propose a MATLAB/Simulink toolbox for modeling and simulating the dynamics of a broad class of multi-rotor platforms through both an analytical and physics-based approaches. The toolbox, named RotorSuite, is provided with comprehensive documentation and example use cases, representing a valuable tool for didactic, research, and industrial development purposes.
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