自主飞艇俯仰角姿态动力学建模及控制

针对平流层信息平台-自主飞艇动力学特性与升降舵操纵角之间的非线性关系,建立飞艇俯仰角姿态动力学模型,将离散滑模变结构控制方法应用于飞艇的俯仰角姿态控制,从理论上证明所提控制方法对控制系统的渐近稳定性,而且有效削弱了跟踪误差轨迹在滑动过程中的抖动现象,增强了控制系统的鲁棒性,计算机仿真实验不仅表明所建立的飞艇俯仰角姿态动力学模型是正确的,离散滑模变结构控制方法适于飞艇的俯仰角姿态跟踪误差的控制,而且验证了对本文提出的控制方法的理论分析.

Pitching attitude dynamics modeling and its control of unmanned dirigible airship

In allusion to non-linearity between the dynamical characteristics and the rudder manipulation angle of the unmanned dirigible airship, the dynamics of pitching angle of airship is modeled and the discrete sliding mode variable structure control is applied to the attitude control. It is proved that the proposed control leads to asymptotic stability of the system, improves robustness of the controlled system, and effectively depresses chattering of the tracking errors during the sliding mode gliding movement. The simulation verifies the constructed model for the airship pitching attitude dynamics and shows that the discrete sliding mode variable structure control is suitable for controlling the airship pitching attitude tracking error and justifies the theoretical analysis for control methods proposed in the paper.