Small Unmanned Airship Modeling And Flight Control System Design

Airship is a float aircraft which is lighter than air, with longer time staying in the air, better security performance, less environmental pollution, low energy consumption and better carrying ability. It has a smooth flight, the requirement of the taking off and landing ground is simple. Autonomous unmanned airship has complete autonomy and huge market potential, especially as a platform for information gathering in studying,environmental monitoring,trunk communication and navigation and so on, which has had wide application in many fields. The paper used small unmanned airship as object of study. After learnning and comparing the present situation of research at home and abroad, a mathematical model for small airship is established and simulated for its control law.On this basis, the paper carried out a hardware and software design for the flight control system.First, based on the mechanical analysis for the small airship model, the paper analyzed airship mechanical characteristics in dynamics and kinematics and deduced the final motion equations and 6 DOF mathematical model after then. The motion equations of the airship are linearized by small-perturbation theory under the nominal condition with no wind, zero attack angle and sideslip angle. The linearized equation was broke up into transverse movement one and lengthwise movement one.Second, the paper designed the flight control system, finished the hard circuit design which centering on MSP430F449, inlude data accumulating module,driver module,wireless communication module,GPS module, ect. Modularization was used in the software design, the whole design was divided to several subsystem by function, overall design the programs flow for every subsystem.Then using feature modeling method to distinguished the mathematical model to verify the correctness of the model. Then PID and exper PID are adopted in the control law of the airship's pitch and yaw motions design. According to the simulation diagram , the paper analysis compares these two control methods.Finally,the paper finished thePCB design of the flight control system, make the breadboard to complete part of debugging to verify the feasibility of the proposal.