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Tracking control method of plane paths of self-managing airship

A technology of path tracking and control method, applied in two-dimensional position/channel control and other directions, which can solve problems such as control failure and inability to guarantee system stability.

Active Publication Date: 2013-05-29
BEIHANG UNIV
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  • 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 current path tracking control methods all have control singularities, that is, when the object is in a certain position, it will cause control failure

Method used

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  • Tracking control method of plane paths of self-managing airship
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  • Tracking control method of plane paths of self-managing airship

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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.

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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

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 郑泽伟霍伟
Owner BEIHANG UNIV
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