Tracking control method of plane paths of self-managing airship

A technology of path tracking and control methods, applied in the direction of two-dimensional position/channel control, etc., can solve problems such as control failure and failure to guarantee system stability

Active Publication Date: 2011-08-24
BEIHANG UNIV
View PDF2 Cites 29 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When there are factors such as model inaccuracy and external interference, the stability of the system cannot be guaranteed
In addition, the curr

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Tracking control method of plane paths of self-managing airship
  • Tracking control method of plane paths of self-managing airship
  • Tracking control method of plane paths of self-managing airship

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0100] Below in conjunction with accompanying drawing, each part design method in the present invention is further described:

[0101] "A Method for Tracking and Controlling the Plane Path of an Autonomous Airship" of the present invention, see figure 1 As shown, the specific steps are as follows:

[0102] Step 1: Given expected tracking value

[0103] 1) if Figure 2a and Figure 2b As shown, the hull coordinate system Oxyz is established with the center of buoyancy of the autonomous airship as the origin; the inertial coordinate system O is established with any point on the ground as the origin g x g the y g z g , where the origin O g is any point on the ground, O g x g pointing north, O g the y g Pointing East, O g z g point to the center of the earth.

[0104] 2) Given the desired plane path in is the path parameter, x p ,y p Desired plane position for the airship.

[0105] 3) Given the desired pitch angle θ c , desired roll angle φ c are all zero.

...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a tracking control method of plane paths of a self-managing airship. The method comprises the following steps of: (1) giving an expected track value; giving an expected plane path; giving an expected pitch angle Theta c and an expected rolling angle Phi c; and giving an expected speed; (2) calculating navigation: calculating and removing an expected yaw angle Psi c needed by an error between an expected position and an actual position; (3) controlling and calculating a posture kinesiology: calculating and removing an expected angle speed Omega c needed by the error between an expected posture and an actual posture; (4) horizontally and longitudinally disintegrating a kinesiology: horizontally and longitudinally disintegrating a kinetic equation and an expected speedvalue; (5) longitudinally controlling and calculating the kinesiology: calculating and removing a control quantity mu 1on needed by the error between an expected longitudinal speed and an actual longitudinal speed; and (6) horizontally controlling and calculating the kinesiology: calculating and removing the control quantity mu 1at needed by the error between an expected horizontal speed and an actual horizontal speed. By the method of the invention, any parameter plane paths can be tracked for ensuring the stable property of a closed-ring system and simplifying the control calculation.

Description

technical field [0001] The invention provides a plane path tracking control method for an autonomous airship, which provides a new control method for tracking an arbitrary parameterized plane path for a fully driven autonomous airship, and belongs to the technical field of automatic control. Background technique [0002] Autonomous airship is a kind of nonlinear mechanical system, and its typical flight states include takeoff, cruising flight, landing, etc. For the cruising flight of autonomous airships, the current flight control methods are all designed based on the dynamic linearization model, which can only be effective near the equilibrium point. When there are factors such as model inaccuracy and external interference, the stability of the system cannot be guaranteed. In addition, the current path tracking control methods all have control singularities, that is, when the object is in a certain position, it will cause control failure. [0003] In order to solve these ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
Inventor 郑泽伟霍伟
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap