平流层飞艇姿态稳定性控制仿真

The Simulation for the Attitude Stability Control of the Stratosphere Airship

飞艇在高空中飞行,空气以风的形式流动,如果相对运动有加速度,飞艇会受附加惯性力的作用。飞艇的密度小,体积大,附加惯性质量与真实质量可以相比拟,当周围空气有加速度的相对运动时,附加惯性力的影响会很大。大气紊流是突然变化的风速,加速度很大。尤其飞艇定点悬停期间,需要克服紊流影响,对飞艇进行姿态稳定控制。根据高空大气紊流的特点,以及紊流风速对飞艇姿态调整的影响,首先建立风场的传递函数模型,然后根据风速三角形关系,建立扰动下的飞艇水平面内动力学模型,最后利用LTR算法设计出控制器,反复调节Kalman滤波器,保证系统的鲁棒性。仿真结果表明,设计的水平面内高空飞艇姿态控制器可以有效地抑制大气紊流对飞艇飞行性能的影响。

When an airship is flying in high altitude, the air around the airship flows in the form of wind. If the relative motion produces acceleration, the airship will be subjected to additional inertia force. Because the density of the airship is small while the volume is very large, the additional inertial mass is approximately equal to the true mass. When the ambient air has acceleration relative to the airship due to the relative motion, the additional inertia force has a great influence on the airship. Atmospheric turbulence is a sudden change of wind speed and the acceleration is very large. In particular, the airship is hovering in the fixed location, we need to insure that the airship overcomes the impact of turbulence and realizes the attitude stability control of the airship. According to the characteristic of the high altitude turbulence and the effect on the attitude adjustment of the airship, firstly, a turbulent flow transfer function model was built. Secondly, the dynamic model of the airship under the disturbance of the wind field was constructed according to the wind velocity triangle relationship. Lastly, we introduced a Loop Transfer Recovery control method to design the attitude control system of the airship. To ensure the robustness of the system, the Kalman filter was used to adjusted repeatedly. The simulation results indicate that the designed controller can overcome the turbulent disturbance impact on the airship effectively.