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针对多气囊平流层浮空器的建模和控制问题,建立其浮空器动力学模型并设计了一种积分变结构控制律。首先,全面分析平流层浮空器所受力和力矩,利用牛顿力学方法建立非线性动力学模型,并分析多气囊运动所带来的和普通浮空器建模之间的区别;然后,基于积分变结构控制方法设计俯仰通道姿态控制律,并应用Lyapunov函数方法证明其稳定性;最后考虑舵偏限幅和限速率以及参数拉偏,进行数字仿真,分析比较了加入积分项前后的控制效果。仿真结果表明,设计的控制律具有较强的鲁棒性,浮空器也具有良好的动态特性。
Aiming at the modeling and control of multi-balloon stratospheric aerostat, the aerodynamic model of the aerostat was established and an integral variable structure control law was designed. Firstly, a comprehensive analysis of the force and moment of the stratospheric aerostat, the use of Newton’s mechanics to establish a nonlinear dynamic model, and analysis of the difference between the multi-airbag movement and ordinary aerostat modeling; then, based on Integral variable structure control method is used to design attitude control law of pitch channel, and Lyapunov function method is used to prove its stability. Finally, the control effect of adding the integral term is analyzed and compared by the digital simulation of the limit and rate of deflection, . The simulation results show that the designed control law is robust and the aerostat also has good dynamic characteristics.