[1]邬依林,刘林东,刘屿.一类“浮力-压块”驱动飞艇建模及控制[J].深圳大学学报理工版,2013,30(No.3(221-330)):280-286.[doi:10.3724/SP.J.1249.2013.03280]
　Wu Yilin,Liu Lindong,and Liu Yu.Modeling and control of a buoyancy-ballast driven airship[J].Journal of Shenzhen University Science and Engineering,2013,30(No.3(221-330)):280-286.[doi:10.3724/SP.J.1249.2013.03280]
点击复制

一类“浮力-压块”驱动飞艇建模及控制()
分享到：

《深圳大学学报理工版》[ISSN:1000-2618/CN:44-1401/N]

卷:
第30卷
期数:
2013年No.3(221-330)
页码:
280-286
栏目:
自控精仪
出版日期:
2013-05-19

文章信息/Info

Title:
Modeling and control of a buoyancy-ballast driven airship
文章编号:
20130310
作者:
邬依林1; 刘林东1; 刘屿2
1) 广东第二师范学院计算机科学系，广州 510310
2) 华南理工大学自动化科学与工程学院，广州 510640
Author(s):
Wu Yilin1;  Liu Lindong1;  and Liu Yu2
1) Department of Computer Science, Guangdong University of Education, Guangzhou 510310, P.R.China
2) College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, P.R.China
关键词:
航空器结构与设计;  飞艇建模;  “压块－浮力”驱动;  气囊和压块;  反馈控制;  飞艇航迹镇定
Keywords:
aircraft’s structure and design;  airship modeling;  buoyancy-ballast driven;  ballonet and ballast;  feedback control;  stabilizing airship trajectory
分类号:
TP 273
DOI:
10.3724/SP.J.1249.2013.03280
文献标志码:
A
摘要:
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.
Abstract:
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 airship 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 simulation results verify the correctness of theoretical analysis and validity of control algorithms.

参考文献/References:

［1］ Gomes S B V, Ramos J J G . Airship dynamic modeling for autonomous operation［C］// IEEE International Conference on Robotics & Automation. Leuven(Belgium): IEEE Press, 1998: 3462-3467.
［2］ Liu Yu, Hu Yueming, Wu Yilin. Stability and control analysis based on airship dynamic modeling［C］// IEEE International Conference on Automation and Logistics. Jinan(China): IEEE Press, 2007: 2744-2748.
［3］ Liu Yu. Stratospheric Autonomous Airship: Model, Dynamics and Control［D］. Guangzhou: South China University of Technology, 2009.(in Chinese)
刘 屿. 平流层自治飞艇：模型、动力学和控制［D］. 广州: 华南理工大学, 2009.
［4］ Guo Jiangguo. Velocity control system of autonomous airship based on adaptive dynamic inversion［J］. Journal of Astronautics, 2008, 29(5): 1505-1508.(in Chinese)
郭建国. 基于自适应动态逆的自主飞艇速度控制系统设计［J］. 宇航学报, 2008, 29(5): 1505-1508.
［5］ Mueller J B, Paluszek M. Development of an aerodynamic model and control law design for a high-altitude airship［C］// AIAA Unmanned Unlimited Conference. Chicago(USA): ［s.n.］, 2004: 1-17.
［6］ Fang Cunguang, Wang Wei. Pitching attitude dynamics modeling and its control of unmanned dirigible airship［J］. Control Theory & Applications, 2004, 21(2): 231-238.(in Chinese)
方存光, 王伟. 自主飞艇俯仰角姿态动力学建模及控制［J］. 控制理论与应用, 2004, 21(2): 231-238.
［7］ Cai Zili, Qu Weidong, Xi Yugeng. Dynamic modeling for airship equipped with ballonets and ballast［J］. Applied Mathematics and Mechanics, 2005, 26(8): 1072-1082.
［8］ Liu Yu, Wu Yilin, Wu Xiaotao, et al. Modelling and analysis of autonomous stratospheric airship［C］// The 29th Chinese Control Conference. Beijing: IEEE Press, 2010: 1293-1298.
［9］ Leonard N E, Graver J G. Model-based feedback control of autonomous underwater gliders［J］. IEEE Journal of Oceanic Engineering, 2001, 26(4): 633-645.

备注/Memo

备注/Memo:
Received：2012-04-11；Revised：2012-12-26；Accepted：2013-01-05
Foundation：National Natural Science Foundation of China(61203060); Natural Science Foundation of Guangdong Province(S2012010008462)
Corresponding author：Associate professor: Wu Yilin. E-mail：lyw@gdei.edu.cn
Citation：Wu Yilin, Liu Lindong, Liu Yu. Modeling and control of a buoyancy-ballast driven airship［J］. Journal of Shenzhen University Science and Engineering, 2013, 30(3): 280-286.（in Chinese）
基金项目：国家自然科学基金资助项目(61203060)；广东省自然科学基金资助项目（S2012010008462）
作者简介：邬依林（1970-），男（汉族），四川省仪陇县人，广东第二师范学院副教授、博士. E-mail：lyw@gdei.edu.cn
引文：邬依林，刘林东，刘屿. 一类“浮力-压块”驱动飞艇建模及控制［J］. 深圳大学学报理工版，2013，30（3）：280-286.
更新日期/Last Update: 2013-05-19