SINGULAR PERTURBATION APPROACH TO MOVING MASS CONTROL OF BUOYANCY-DRIVEN AIRSHIP IN 3-D SPACE

浮力驱动飞艇在三维空间中一种基于奇摄动理论的移动质量块控制方法(英文)

The attitude control problem and the guidance problem are solved in 3-D for a buoyancy-driven airship actuated by the combined effects of an internal air bladder which modulates the airshiprs net weight and of two moving masses which modulate its center of mass. A simple and clear modeling is introduced to derive the 8 degree of freedom （DOF） mathematical model. Nonlinear control loops are derived through maximal feedback linearization with internal stability for both dynamics in the longitudinal plane and in the lateral plane. Based on a singular perturbation approach, the superposition of these two control actions in the longitudinal plane and in the lateral plane is shown to achieve the control of the dynamics in 3-D space. The simulations of the airship tracking specified attitude, moving direction and speed in 3-D space are presented.

对浮力驱动飞艇在三维空间中的姿态和航向控制提出了一种解决方法。介绍了建立该飞艇八自由度数学模型的方法。基于最大反馈线性化方法推导了纵向平面和侧向平面的非线性反馈控制,证明了内部的动态稳定性。通过奇摄动理论叠加在两个平面的控制,推导出一种三维运动控制方法。基于该控制方法,对飞艇跟踪指定姿态,航向和速度进行了仿真。