大型飞艇的稳定性分析及增稳控制器设计

发布时间：2018-04-16 00:14

本文选题：大型飞艇 + 增稳控制器　；参考：《北京林业大学》2016年硕士论文

【摘要】：大型飞艇能用于高空侦查,高空驻留平台以及通信中继等战略任务,还能应用于大地测绘、环境监测等领域,具有重要的军事意义和社会价值。为了能更好的完成大型飞艇的长时间驻空任务,具备稳定的位置与姿态保持能力至关重要,故大型飞艇的稳定性分析和增稳控制器设计是其研制和应用过程中的关键技术之一。由于飞艇的体积大、惯性大、飞行速度低等特点,同时副气囊充放气及摆动运动使得飞艇的重量、重心变化较大,使得飞艇极易发生纵向运动发散,影响飞行安全。针对这些现象,本文以大型飞艇为研究对象,分析受力关系,建立6自由度非线性模型,并在稳定性分析的基础上,提出了基于LMI特征结构配置法和反步法设计增稳控制器,主要研究内容包括：(1)通过分析大型飞艇受力复杂的特点,基于牛顿运动定律建立其6自由度非线性模型,并将复杂的非线性模型转换成一般表达形式。(2)将非线性模型线化解耦为纵向和横侧向两组互相独立的运动方程,分析飞艇性能,并研究考虑副气囊耦合效应时,大型飞艇纵向运动的操稳性能。(3)采用LMI特征结构配置法和反步法设计增稳控制器,并通过仿真分析,证明线性增稳控制器不仅增强飞艇纵向运动的稳定性,还能实现对于不同运动模态之间耦合程度的控制,非线性增稳控制器能抑制大型飞艇的“钟摆”振荡运动,提高闭环系统的鲁棒性。
[Abstract]:Large airship can be used in strategic tasks such as high-altitude reconnaissance, high-altitude resident platform, communication relay and so on. It can also be used in geodetic mapping, environmental monitoring and other fields. It has important military significance and social value.It is very important to have stable position and attitude retention ability in order to accomplish the long time airship mission, so the stability analysis and stability controller design of large airship is one of the key technologies in its development and application.Because the airship has the characteristics of large volume, large inertia, low flying speed and so on, the airship's weight and center of gravity change greatly with the movement of the auxiliary airbag filling and discharging and swinging, which makes the airship prone to longitudinal motion divergence, which affects the flight safety.Aiming at these phenomena, this paper takes the large airship as the research object, analyzes the force relation, establishes the nonlinear model of 6 degrees of freedom, and on the basis of the stability analysis, puts forward the design of the stability controller based on the LMI characteristic structure collocation method and the backstepping method.The main research contents include: (1) based on Newton's law of motion, the nonlinear model of a large airship with six degrees of freedom is established by analyzing its complicated force.The complex nonlinear model is transformed into a general expression form. (2) the nonlinear model line is decoupled into two independent equations of motion, longitudinal and lateral, and the performance of the airship is analyzed, and the coupling effect of the auxiliary airbag is studied.The stability performance of large airship longitudinal motion is analyzed by using LMI characteristic structure collocation method and backstepping method. Through simulation analysis, it is proved that the linear stability controller not only enhances the stability of airship longitudinal motion, but also improves the stability of airship longitudinal motion.The nonlinear stability controller can restrain the oscillatory motion of the "pendulum" of the large airship and improve the robustness of the closed-loop system.
【学位授予单位】：北京林业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V274

【相似文献】