多气囊平流层浮空器动力学建模及控制  

Dynamic modeling and control of stratospheric airship with ballonets

作　　者：郭宗易[1] 郭建国[1] 周军[1] 

机构地区：[1]西北工业大学精确制导与控制研究所,陕西西安710072

出　　处：《飞行力学》2013年第3期230-233,238,共5页Flight Dynamics

基　　金：航天科技创新基金资助(N11XW0001)

摘　　要：针对多气囊平流层浮空器的建模和控制问题,建立其浮空器动力学模型并设计了一种积分变结构控制律。首先,全面分析平流层浮空器所受力和力矩,利用牛顿力学方法建立非线性动力学模型,并分析多气囊运动所带来的和普通浮空器建模之间的区别;然后,基于积分变结构控制方法设计俯仰通道姿态控制律,并应用Lyapunov函数方法证明其稳定性;最后考虑舵偏限幅和限速率以及参数拉偏,进行数字仿真,分析比较了加入积分项前后的控制效果。仿真结果表明,设计的控制律具有较强的鲁棒性,浮空器也具有良好的动态特性。According to the characteristics of a stratospheric airship with ballonets, the dynamic modeling is established and the integral variable structure control law is designed. First of all, the nonlinear dy namic model for an airship with ballonets is obtained based on Newton method by analyzing the airship stress and compared with normal airship modeling because of the ballonets. Then, the control system of pitch channel is designed based on integral variable structure control method, and the stability is proved by Lyapunov function approach. Finally by restricting position and velocity of the pitch rudder, the simu lation is conducted considering the nominal condition and parameter perturbation. The control perform ance using integral item or not is compared. The results indicate the dynamic characteristics are better due to the strong robustness of the integral variable structure control.

关 键 词：浮空器动力学 气囊 积分变结构 LYAPUNOV函数 

分 类 号：V274[航空宇航科学与技术—飞行器设计]