带推力矢量飞艇的姿态控制系统设计

Design of Control System for the Attitude of Airship with Thrust Vector

研究飞艇的姿态控制问题,针对飞艇在低速飞行时,舵面气动效率较低的情况,提出将推力矢量控制引入飞艇的姿态控制。推力矢量控制具有很强的非线性特性,且飞艇的建模也具有很大的不确定性。针对飞艇的六自由度非线性模型,引入Backstepping(回推控制)的控制方法,实现飞艇姿态的快速控制,并使控制器具有较强的鲁棒性。仿真结果表明:针对非线性模型设计的推力矢量控制律在风扰动和参数具有一定不确定性时,均能快速实现纵向姿态控制,得到了满意的控制效果。Backstepping设计方法避免了传统方法需要精确数学模型、消去有用非线性项等缺点,且具有克服非线性影响、鲁棒性强和易于工程实现等优点,为带推力矢量飞艇控制提供了一种方案。

When the airship flights in low speed, the rudder control torque will be weakened. Th paper proposed a method using thrust vector of engine to control airship attitude. The control of thrust vector has a strong nonlinear characteristics and the parameters of airship model have a great deal of uncertainty. A design method of control flaw based on Backstepping was presented to control the airship attitude quickly and makes the controller have strong ro bustness for the six degree of freedom nonlinear model of airship. The simulation result shows that the flight control law for nonlinear model design can realize the airship attitude quick control and obtain the satisfactory control effect when the wind disturbance and uncertainty parameters exist. This method don not need the precise mathematical model which is required by the traditional way, elimination of useful nonlinear term and so on. And it has the ability of overcoming the non linear influence and strong robustness and easy engineering implementation, etc. Then this method provides a good solution for the airship with thrust vector control.