| Due to its flight principle and structural characteristics, airship has manyadvantages, including long air hanging capacity, little affected by weather conditions,low energy consume, strong load capacity, good safety, convenient for vertical takeoffand landing, hovering and low speed flight mode, etc. It is thus widely applied innumerous military/civil areas. Compared with other types of small unmanned aerialvehicles (SUAV), the small unmanned airship with low manufacturing and advantagesis more competitive in civil areas.The present study aims at researching the autopilot system of small unmannedairships. By analyzing airship theories and the software/hardware design, the modulesof autopilot system for small unmanned airship are analyzed systematically.Firstly, a6DOF(Degree of Freedom) nonlinear mathematic model is developed byanalyzing the airship’s structure and force situation, And nonlinear model is linearizedbased on linear perturbation theory, and divided into longitudinal and lateral equations.Then, airship control is divided into basic circuit layer, guiding layer and management,and multiple control modules are analyzed, and control laws are designed using fuzzyadaptive PID algorithm.Based on the overall design scheme of autopilot system for the small unmannedairship, the detailed design in modules of autopilot system is completed, which fromselection of equipment to the detailed circuit design and from functional analysis ofsoftware to the flowchart design.The simulation model and controller of the airship is built using MATLABsoftware, which is used to analyze and simulate for pitch, yaw, speed and altitudecontrol of airship in detail. Simulation results demonstrate that the airship mathematicmodel is correct and the control laws are reasonable.Finally, A small unmanned airship with autopilot system is built, including manymodules related to machinery, circuits and software. And the design of autopilotsystem is feasible based on the experimental verification. |
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