平流层飞艇的建模与辨识

Modeling and Identification of the Stratospheric Airship

首先，利用力学原理，建立了平流层飞艇动力学模型和运动学模型、螺旋桨推力模型、舵模型和气动力模型；其次，以水平直飞为基础运动，分析了飞艇速度和角速度状态对发动机转速输入和舵偏角输入的响应，从而得到近似的线性传递函数模型结构；第三，应用最小二乘递推算法对模型参数进行了辨识。仿真结果验证了建模和辨识方法的精确性；最后，对利用实际试飞数据进行飞艇模型的辨识提出了建议。

Firstly, the kinematics model and dynamics model of the stratospheric airship are built utilizing mechanical theory, as well as propeller＇s model, rudder＇s model and aerodynamic force model. Secondly, output responses of airship＇s linear velocity and angular velocity according to the input of rotational speed of the motor and angular offset of rudders are analyzed based on the horizontal straight flight. Then we have the approximate model structure of linear transfer function. Thirdly, parameters of the model are identified utilizing recursive linear lease-square algorithm. Finally,simulations verify the accuracy of the method of model-building and parameter-identification.