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Control-limited airship flight path control method

A control method and track technology, applied in the field of automatic control, can solve the problem of lack of consideration of airship track control and other problems

Active Publication Date: 2018-02-16
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned control laws are all designed based on the assumption that "the airship has sufficient control capability", and lack of consideration of the airship track control problem under control-limited conditions

Method used

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Embodiment Construction

[0080] In order to make the technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0081] A method for controlling the trajectory of a controlled airship provided by this application is applied to a specific embodiment below, including the following steps:

[0082] The specific steps are as follows:

[0083] Step 1: Given command track

[0084] The given command track is:

[0085] n d =[5sin(0.02t)m, 5cos(0.01t)m, 2+sin(0.01t)+cos(0.01t)m, 0rad, 0rad, 0rad] T , x d 、y d ,z d , θ d 、ψ d and φ d They are command x coordinate, command y coordinate, command z coordinate, command pitch angle, command yaw angle and command roll angle;

[0086] Step 2: Calculate the amount of error ...

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Abstract

The invention provides a control-limited airship flight path control method for solving a problem of airship flight path tracking. Via the method, a mathematical model for spatial motion of an airshipis built, the model is a controlled object, limited control of the airship is taken into consideration, and a hyperbolic tangent function is adopted for designing flight path control laws. A closed loop system controlled via the method can be used for stably tracking an instructed flight path, good control precision can be realized, and an effective solution is provided for implement a flight path control program for the control-limited airship.

Description

technical field [0001] The invention relates to an airship control method, which provides a control method for controlling the three-dimensional track tracking of a restricted airship, and belongs to the technical field of automatic control. Background technique [0002] An airship is a kind of floating aircraft that relies on a gas that is lighter than air (such as helium) to provide static buoyancy, and relies on a flight control system to achieve low-speed maneuvering and fixed-point parking. It is widely used in environmental monitoring, land surveying and mapping, earth observation, reconnaissance and surveillance, etc. It has important application value and broad application prospects, and has become a research hotspot in the aviation field. [0003] Track tracking means that the airship starts from any given initial state, gradually tends to and stably tracks the command track under the given ground coordinate system. The space motion of the airship has the character...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 杨跃能闫野龚秋武李超
Owner NAT UNIV OF DEFENSE TECH