【摘 要】
：
针对一类新型“浮力-压块”驱动的自治飞艇,研究了该类飞艇的动力学建模和动力学特性。在Kirchhoff方程和Newton-Euler理论基础上,通过对飞艇运动及受力分析,建立了包括独立
【机 构】
：
广东第二师范学院计算机科学系,华南理工大学自动化科学与工程学院,
论文部分内容阅读
针对一类新型“浮力-压块”驱动的自治飞艇,研究了该类飞艇的动力学建模和动力学特性。在Kirchhoff方程和Newton-Euler理论基础上,通过对飞艇运动及受力分析,建立了包括独立气囊和可运动压块的飞艇六自由度非线性动力学模型,并采用小扰动线性化方法,将飞艇运动分别限制在纵向、横侧向和e_2-e_3平面内,得到与之对应的三组飞艇线性化方程,其后基于飞艇相关参数和线性化模型,利用Matlab软件平台对飞艇运动模态和输入响应特性进行了分析研究。仿真结果验证了该类飞艇模型的正确性和理论分析的合理性,为其后控制策略设计提供理论依据。
Aiming at a new type of “buoyant-briquetting” autonomous autopilot, the dynamic modeling and dynamics of the airship are studied. Based on the Kirchhoff equation and the Newton-Euler theory, a six-DOF nonlinear dynamic model of an airship including an independent airbag and a movable briquette is established based on the analysis of the motion and the force of the airship. A small perturbation linearization method The airships are limited to the longitudinal, lateral and e_2-e_3 planes respectively, and the corresponding three groups of airship linearization equations are obtained. Based on the related parameters and linearization model of the airship, the airship’s motion modalities and Input response characteristics were analyzed. The simulation results verify the correctness of the airship model and the rationality of theoretical analysis, and provide a theoretical basis for the design of control strategy.
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