非线性PID控制技术在飞艇上的应用

Nonlinear PID control technology applied to the airship

基于飞艇在自主飞行控制系统的开发,本文在对飞艇进行建模的基础上,考虑其附加质量、推力矢量等因素影响,建立了完整的六自由度数学模型。对六自由度模型利用小扰动法进行了线性化,得到了飞艇的状态方程,并将其分为纵向和侧向两组,采用先进PID控制器设计飞艇俯仰和偏航两种姿态的控制律。

Based on airships in the development of autonomous flight control system, this paper based on the modeling of the airship, considering the added mass, thrust vectoring and other factors, the establishment of a full six-degree-of- freedom mathematical model. Control of six degrees of freedom model using small perturbation method linear equation of state of the airship, and is divided into longitudinal and lateral two groups, using advanced PID controller design airship pitch and yaw two stances law.