自治飞艇动力学建模及反馈控制

Autonomous dynamics-modeling and feedback control for an airship

中文关键词  飞艇动力学建模  气囊和压块  反馈控制  平衡航迹  零动态  最小相位系统

英文关键词  airship dynamics modeling  ballonets and ballast  feedback control  equilibrium paths  zero dynamic  minimum phase system

中文摘要

      在Kirchhoff方程和Newton-Euler理论基础上, 推导出一种通用符合实际的、带有气囊和压块的飞艇六自由度动力学模型, 并对该模型实施了状态量和控制量的非线性反馈变换, 同时利用最小相位系统特性, 构造飞艇反馈线性化动力学系统. 在此基础上, 分别研究了飞艇在纵向平面内的平衡飞行可行性和稳定性, 以及平衡航迹的镇定和期望输出的跟踪. 仿真结果和样机试飞都验证了理论分析的正确性和可靠性.

英文摘要

      By Kirchhoff equations and Newton-Euler laws, we developed a general and practical dynamic model with six degrees of freedom for an airship equipped with ballonets and ballast. A nonlinear feedback is used to implement the transformation of states and control variables, and the minimum-phase system property is adopted in building the feedbacklinearized dynamic model for the airship. On this basis, we investigate the feasibility and the stability of the equilibrium flight of the airship in a longitudinal plane, and the stabilization of the equilibrium flying paths as well as the tracking of the desired outputs. The simulation results and the prototype test results verify the theoretical analysis and confirm the reliability.