Research On Altitude Control And Path Tracking Control Of A Stratospheric Airship

This article is supported by the National Natural Science Foundation of China"On integrated modeling and optimization of coordinated control of reusable long endurance stratospheric airship(NO.61733017)",which mainly studies the stratospheric airship altitude control and path tracking control in the horizontal plane problem.With the continuous development and progress of aviation science and technology,the unique application advantages of stratosphere airships have become increasingly prominent.Compared with traditional aircrafts such as airplanes,stratospheric airships have the advantages of vertical take-off and landing,low energy consumption,and long dwell time.They have high application value in environmental monitoring,communication,navigation and positioning.This article mainly studies the issues related to the altitude control and path tracking control of the stratosphere airship.The specific work is as follows:1.To establish a stratospheric airship motion model,first make rationalization assumptions about the airship structure,then analyze the force of the airship,establish the dynamic model and kinematics model of the airship by applying the knowledge of theoretical mechanics,coordinate transformation,etc.,and lay a mathematical foundation for the subsequent design of the airship height controller and path tracking controller.2.Design a altitude controller for stratosphere airship.According to the characteristics of airship height control,the airship motion model is simplified to a longitudinal motion model.The linearization of the input and output of the longitudinal motion model is realized by feedback linearization theory,and the output is decoupled.Then the altitude control law is designed by sliding mode variable structure control.Finally,the effectiveness of the control system is verified by simulation.3.Design a path tracking controller for stratosphere airship.Aiming at the characteristics of airship path tracking control in the horizontal plane,the airship motion model is simplified to a lateral motion model.Introduce the guidance law theory to calculate the expected yaw angle during the path tracking process,and then design the path tracking control law of the airship based on the LADRC control theory,and then add the simulated wind field disturbance and longitudinal motion coupling terms during the simulation,and finally pass the simulation results,It shows that the control system has good stability and robustness.