A Stratospheric Airship Control Allocation Method Based on Vector Field Guidance and Least Square Method

A technology of stratospheric airship and least squares method, which is applied in non-electrical variable control, attitude control, control/regulation system, etc., can solve the problem that the long-term operation of the airship cannot be guaranteed, and achieve good control effect and strong nonlinear approximation capacity, prolonging the service life

Active Publication Date: 2019-03-01
BEIHANG UNIV
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Problems solved by technology

At present, most control methods can complete the cruising of the stratospheric airship on the desired path, change the attitude and heading, but cannot guarantee the long-term operation of the airship

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  • A Stratospheric Airship Control Allocation Method Based on Vector Field Guidance and Least Square Method
  • A Stratospheric Airship Control Allocation Method Based on Vector Field Guidance and Least Square Method
  • A Stratospheric Airship Control Allocation Method Based on Vector Field Guidance and Least Square Method

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Embodiment Construction

[0072] Below in conjunction with accompanying drawing, each part design method in the present invention is further described:

[0073] "A Stratospheric Airship Control Allocation Method Based on Vector Field Guidance and Least Squares Method" of the present invention. For the model used in the specific implementation, see figure 1 As shown, the hull of this stratospheric airship model is an elliptical sphere filled with helium. A stabilizer is installed at the tail of the airship to enhance the static stability of the airship. A vector propulsion device is also installed under the hull to provide advection The stratospheric airship provides power, and the device can rotate around the longitudinal axis between -90 degrees and 90 degrees to provide thrust in different directions for the stratospheric airship. Different stratospheric airship layouts have different stress situations, and different state equations can be derived, and only one of the layouts is considered in the pre...

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Abstract

A stratospheric airship control assignment method based on vector field guidance and least squares method, the steps are as follows: 1. Establish the dynamic model of the stratospheric airship; 2. Establish the state equation of the relationship between the virtual control quantity and the actuator; 3. Design the upper controller, use the sliding mode controller and the forward speed controller to obtain the virtual control variable τ; 4. Establish the equation relationship between the virtual control variable and the actual control variable according to the layout of the actuator, considering the physical In the case of restrictions, the approximate weighted least squares formula is obtained; 5. Use the Lagrange function and the saddle point theorem to simplify the weighted least squares formula into a piecewise function about the actual control quantity; 6. Use the recursive neural network to solve The piecewise function gets the actual control amount. The control flow is shown in the accompanying drawing.

Description

technical field [0001] The invention provides a method for controlling and distributing stratospheric airships based on vector field guidance and the least square method. It proposes a method for combining a new type of control distributor and a path tracking controller, which belongs to the technical field of automatic control. Background technique [0002] A near-space vehicle is an aircraft that can travel through the stratosphere and perform specific tasks. Among all near-space vehicles, the stratospheric airship has attracted extensive attention in recent years because of its application value. As a new type of flying platform, the stratospheric airship has great development potential. The control object of this method is a stratospheric airship using a vector propulsion device, such as figure 1 shown. Among them, BRF is the hull coordinate system, ERF is the ground coordinate system, and the airship thrust system is composed of two vector propellers installed on the...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 郑泽伟吕慧祝明田野
Owner BEIHANG UNIV
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