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Posture control method for airship staying on stratosphere

An attitude control and stratospheric technology, applied in attitude control and other directions, can solve the problems of channel coupling without considering nonlinear factors, control performance cannot be guaranteed, and the research on attitude control of resident airships has not yet been reported.

Active Publication Date: 2012-06-13
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

In the existing research results, most airship attitude control methods are designed based on linear dynamic models, without considering nonlinear factors and coupling effects between channels, and are only effective near the equilibrium point. When there are model uncertainties and external disturbances Control performance cannot be guaranteed
In addition, the current attitude control methods of airships are all researched on the low-speed cruising state, and the research on the attitude control of resident airships has not been reported yet.

Method used

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  • Posture control method for airship staying on stratosphere
  • Posture control method for airship staying on stratosphere
  • Posture control method for airship staying on stratosphere

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Embodiment Construction

[0116] specific implementation plan

[0117] Below in conjunction with accompanying drawing, the design method in the present invention is further described:

[0118] The present invention "a method for controlling the attitude of an airship resident in the stratosphere", its specific steps are as follows:

[0119] Step 1: Give command attitude angle

[0120] Such as figure 1 As shown in , the given command attitude angle is Ω c =[θ c , ψ c , φ c ] T =[0.2rad, 0.2rad, 0.2rad] T , θ c 、ψ c , φ c are command pitch angle, yaw angle and roll angle respectively.

[0121] Step 2: Calculate the amount of error

[0122] Such as figure 1 As shown in , calculate the error amount between the command attitude angle and the measured value of the actual attitude angle: e=Ω c -Ω=[θ c -θ,ψ c -ψ, φ c -φ] T , where, Ω=[θ,ψ,φ] T is the measured value of the actual attitude angle, θ, ψ, φ are the pitch angle, yaw angle and roll angle measured by the navigation respectively, w...

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Abstract

The invention relates to a posture control method for an airship staying on the stratosphere. Aiming at the posture control problem of the airship staying on the stratosphere, a fuzzy variable structure decoupling control method is adopted and an input and an output of a nonlinear posture control system are decoupled into linear subsystems of three channels by feedback linearization; a sliding mode variable structure is utilized to control an invariance design posture control system which is uncertain for a model and has disturbance to the outside, so that the robustness of the system is ensured; and a control law parameter is regulated by a fuzzy rule on line, so that the buffeting caused by the control of the sliding mode variable structure is effectively inhibited and the dynamic performance of the system is improved.

Description

technical field [0001] The invention relates to an attitude control method of an airship, in particular to a method for controlling the attitude of a stratospheric resident airship. Background technique [0002] Stratospheric airship refers to an aircraft that relies on gases lighter than air (such as helium, hydrogen, etc.) It is widely used in reconnaissance and surveillance, theater early warning, communication relay, environmental monitoring, emergency disaster relief, scientific detection and other fields. At present, it has become a research hotspot in the aviation field. The overall layout, flight mechanism and working mode of the stratospheric airship are significantly different from conventional aircraft such as airplanes and missiles, and a series of new topics in the field of flight control have been proposed, among which fixed-point residence is one of the key technologies for its application. The attitude motion of a stratospheric resident airship has the char...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 郑伟杨跃能邹东升吴杰
Owner NAT UNIV OF DEFENSE TECH
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