自主飞艇侧滑角姿态建模及控制  

YAW ATTITUDE DYNAMICS MODELING AND ITS CONTROL OF UNMANNED DIRIGIBLE AIRSHIP

作　　者：方存光[1] 王伟[1] 蔡光起[2] 

机构地区：[1]大连理工大学信息与控制研究中心,大连116024 [2]东北大学机械工程学院,沈阳110006

出　　处：《机械工程学报》2005年第9期112-121,共10页Journal of Mechanical Engineering

基　　金：国家杰出青年基金(69825106)辽宁省高等学校学科拔尖人才资金(2003-54)资助项目。

摘　　要：针对特定结构的平流层信息平台——自主飞艇,建立侧滑角姿态动力学方程,并将这一分段函数表述为混杂逻辑方程。根据飞艇侧滑角姿态跟踪误差值的大小,判断其侧滑角姿态调整范围。当飞艇需要进行较大侧滑角姿态调整时,辅助推进系统产生附加力矩,采用基于极点配置的PID控制器,使得系统具有需要的动态特性和很好的可靠性能,对于较小的侧滑角姿态调整,改变方向舵操纵角,采用基于等效策略的滑模变结构控制器,保证系统具有很好的抗干扰性能及良好的跟踪精度。通过合理配置极点的位置,确定滑模面参数,设计出的0-1逻辑触发器成功整合了这两种控制器在不同工况下的应用,避免了控制模式切换过程中常见的振动以致于系统失稳现象。数字仿真结果表明,采用的控制手段及整合方式是合理的。Yaw attitude dynamics equation of strato-herictelecommunication-platform--unmanned dirigible airship are built according to the forces and moments acted on. The above piecewise functions are formulated by hybridize logical dynamics equation. Yaw attitude modulation is judged by tracking error. In case that yaw attitude is greatly modulated, assistantthrust system take out assistant moment, PID control via pole assignment modulates the airship great yaw attitude in order to make the closed loop system have needed specified dynamic performance and highly reliability. Otherwise, rudder steering angle is changed, sliding mode variable structure controller designed according to equivalent control principle reversely modulates little yaw attitude in order to make the closed loop system have good robustness. Reasonable assigned pole of PID and defined sliding surface parameter, 0-1 logical triggering switch succeeds in concording the two control application in reciprocal operating condition which avoids such phenomenon as tremble, unstability during the course of control mode switch The digital simulation proves control means and the concord in reason.

关 键 词：混杂系统动力学建模 PID控制 滑模变结构控制 平流层信息平台 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]