平流层飞艇变质心姿态运动仿真

Simulation of Moving-mass Control of Stratospheric Airship

针对平流层飞艇工作高度空气密度低,飞行速度低的特点,提出了变质心姿态控制的方案。在机体坐标系下,采用牛顿—欧拉方法建立了浮空器的动力学方程,并分析了变质心动力学模型的特性,给出了质量滑块的参数化驱动方法。采用了ADAMS动力学分析软件,进行了不同飞行条件下的变质心动力学仿真。仿真结果显示了滑块质量、位移、速度以及飞艇速度等条件的改变对姿态控制的影响,结果表明:滑块的质量比和移动距离是影响变质心姿态控制能力的主要因素,滑块的速度决定系统的响应特性;变质心操纵能力不受飞行速度的影响,因此在低速飞行时具有很强的适应性。

Moving-mass control method was introduced to high-altitude aerostat for its special working condition of low atmospheric density and low speed. The dynamic equation of aerostat was derived by using Newton-Euler method and the characteristics of model were analyzed. Two design methods for parameterized driving of moving-masses were given. The ADAMS dynamical software was used in the simulation analysis under various flight conditions. Analysis results show that： the mass ratio and the displacement of moving-masses are the main factors for control ability of moving-mass attitude control whereas the moving velocity determines the response characteristics. Moving-mass attitude motion is not affected by the airspeed, so it has a very strong adaptability in low airspeed.