一类“浮力-压块”驱动飞艇建模及控制

Modeling and control of a buoyancy-ballast driven airship

研究一类"浮力-压块"驱动飞艇的动力学建模及控制器设计.通过对飞艇运动及受力分析,建立包括独立气囊和压块的该类飞艇6自由度非线性模型.该类飞艇的驱动力源自压块与气囊的反复耦合运动而非传统的推进器.通过将飞艇运动限制在纵向平面内,得到其纵向平面模型方程.对纵向模型分别实施非线性反馈变换和小扰动线性化,并设计反馈线性化控制器和线性二次型调节器(linear quadratic regulator,LQR)最优控制器,结合实验数据仿真验证这两种反馈控制器对飞艇平衡航迹的镇定和期望输出的跟踪,结果表明,该理论分析正确,控制算法有效.

The model and controller design of a buoyancy-ballast driven airship were studied. By analyzing a buoyancy-ballast driven airship movement and stress, we developed the six degrees of freedom nonlinear dynamic model for an airship equipped with independent ballonets and ballast. The driving force of this airship came from the coupled motion of ballonet and ballast instead of the traditional propeller. The longitudinal model of this air- ship was derived from the six degree of freedom model by restricting airship motion on the longitudinal plane. A nonlinear feedback and a linear perturbation were used to implement the model transformation on the longitudinal model respectively. For our analysis, the feedback linearization controller and linear quadratic regulator controller were designed for stabilizing the equilibrium flying paths as well as the tracking of the desired outputs. The simu- lation results verify the correctness of theoretical analysis and validity of control algorithms.