MATLAB画四旋翼无人机，机翼可独立旋转

bash 复制代码
% ==========================================================
% 高仿真无人机  | 全动态旋转动画
% 大疆风格 + 完美结构 + 流畅动画
% ==========================================================
clear; clc; close all;

% 窗口设置
f = figure('Color','w','Position',[100,100,900,700]);
ax = axes('Color',[0.96 0.98 1],'DataAspectRatio',[1 1 1]);
hold on; grid on; box on;
xlabel('X'); ylabel('Y'); zlabel('Z');
view(60,25);
lighting gouraud;
material shiny;
axis([-5 5 -5 5 -2 3]);

%% 1. 流线型机身（真实无人机造型）
body_color = [0.05 0.12 0.25];
[x,y,z] = ellipsoid(0,0,0, 1.8, 0.9, 0.5);
surf(x,y,z,'FaceColor',body_color,'EdgeColor','none');

% 顶部视觉模块
[x2,y2,z2] = cylinder(0.4,50);
z2 = z2*0.25 - 0.12;
surf(x2,y2,z2,'FaceColor',[0.02 0.05 0.1],'EdgeColor','none');

%% 2. 碳纤维机臂（从机身中心连接到旋翼）
arm_R = 0.12;
arm_L = 3.2;
arm_color = [0.1 0.1 0.13];
arm_points = [arm_L,arm_L,0;  -arm_L,arm_L,0;  arm_L,-arm_L,0;  -arm_L,-arm_L,0];
for i = 1:4
    cylinder3d([0,0,0], arm_points(i,:), arm_R, arm_color);
end

%% 3. 电机底座（真实结构）
motor_R = 0.28;
motor_H = 0.22;
for i = 1:4
    [xm,ym,zm] = cylinder(motor_R,50);
    zm = zm*motor_H - 0.11;
    xm = xm + arm_points(i,1);
    ym = ym + arm_points(i,2);
    surf(xm,ym,zm,'FaceColor',[0 0 0],'EdgeColor','none');
end

%% 4. 起落架
leg_color = [0.08 0.08 0.1];
plot3([1.2 1.2],[1.2 1.2],[0 -1.2],'Color',leg_color,'LineWidth',4);
plot3([-1.2 -1.2],[1.2 1.2],[0 -1.2],'Color',leg_color,'LineWidth',4);
plot3([1.2 1.2],[-1.2 -1.2],[0 -1.2],'Color',leg_color,'LineWidth',4);
plot3([-1.2 -1.2],[-1.2 -1.2],[0 -1.2],'Color',leg_color,'LineWidth',4);

% 脚垫
pad_pos = [1.2,1.2,-1.2; -1.2,1.2,-1.2; 1.2,-1.2,-1.2; -1.2,-1.2,-1.2];
for i = 1:4
    [xp,yp,zp] = cylinder(0.15,30);
    zp = zp*0.1 - 0.05;
    xp = xp + pad_pos(i,1); yp = yp + pad_pos(i,2); zp = zp + pad_pos(i,3);
    surf(xp,yp,zp,'FaceColor',[0 0 0],'EdgeColor','none');
end

%% ====================== 核心：4 叶旋翼（每个旋翼 4 片桨叶）======================
blade_len = 1.25;
blade_w = 0.11;
blade_color = [0.93 0.93 0.96];
blades = [];

for m = 1:4
    ox = arm_points(m,1);
    oy = arm_points(m,2);
    oz = 0.15;
    % 每个旋翼 4 个叶片（0°、90°、180°、270°）
    for k = 0:3
        ang = k * pi/2;
        bx = [ox, ox+blade_len*cos(ang)-blade_w*sin(ang), ox+blade_len*cos(ang)+blade_w*sin(ang), ox];
        by = [oy, oy+blade_len*sin(ang)+blade_w*cos(ang), oy+blade_len*sin(ang)-blade_w*cos(ang), oy];
        bz = [oz, oz+0.02, oz+0.02, oz];
        p = patch(bx,by,bz,blade_color,'EdgeColor',[0.1 0.1 0.12],'FaceAlpha',0.98);
        blades = [blades, p];
    end
end

%% 灯光
light('Position',[6,6,8],'Color',[1 1 1]);
light('Position',[-6,-6,6],'Color',[0.9 0.9 1]);
light('Position',[0,7,4],'Color',[1 1 0.95]);

%% ====================== 旋翼旋转动画 ======================
angle = 0;
while ishandle(f)
    angle = angle + 6;  % 旋转速度
    if angle > 360
        angle = 0;
    end

    % 4个旋翼，每个4片桨叶一起旋转
    for m = 1:4
        baseIdx = (m-1)*4 + 1;
        ox = arm_points(m,1);
        oy = arm_points(m,2);
        oz = 0.15;

        for k = 0:3
            currentAng = angle + k*90;
            idx = baseIdx + k;

            bx = [ox, ox+blade_len*cosd(currentAng)-blade_w*sind(currentAng), ...
                  ox+blade_len*cosd(currentAng)+blade_w*sind(currentAng), ox];
            by = [oy, oy+blade_len*sind(currentAng)+blade_w*cosd(currentAng), ...
                  oy+blade_len*sind(currentAng)-blade_w*cosd(currentAng), oy];
            bz = [oz, oz+0.02, oz+0.02, oz];

            set(blades(idx),'XData',bx,'YData',by,'ZData',bz);
        end
    end
    drawnow;
end

%% 辅助函数：3D圆柱体
function cylinder3d(startPos,endPos,r,color)
    dirVec = endPos - startPos;
    L = norm(dirVec);
    dirVec = dirVec / L;
    [X,Y,Z] = cylinder(r,50);
    Z = Z * L;
    R = rotMatrix([0,0,1],dirVec);
    for i = 1:size(X,1)
        for j = 1:size(X,2)
            vec = R * [X(i,j); Y(i,j); Z(i,j)];
            X(i,j) = vec(1) + startPos(1);
            Y(i,j) = vec(2) + startPos(2);
            Z(i,j) = vec(3) + startPos(3);
        end
    end
    surf(X,Y,Z,'FaceColor',color,'EdgeColor','none');
end

function R = rotMatrix(v1,v2)
    v = cross(v1,v2);
    s = norm(v);
    c = dot(v1,v2);
    vx = [0,-v(3),v(2); v(3),0,-v(1); -v(2),v(1),0];
    R = eye(3) + vx + vx^2*(1-c)/(c+1);
end