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基于轨迹线性化控制(TLC)理论提出了一种全驱动平流层飞艇轨迹跟踪控制设计的新方法.该方法由期望姿态生成、运动学控制和动力学控制3部分组成.首先利用期望轨迹的Frenet标架构造期望的艇体坐标系,导出期望姿态的计算公式;然后将系统运动学部分按照移动和转动分解,动力学部分按纵向与横向分解,将整个系统划分为4个回路,并分别用TLC理论进行控制设计,避免了设计时对全系统求逆的困难;最后给出了控制方法的计算步骤和平流层飞艇跟踪典型轨迹的仿真结果,结果验证了所提出方法的可行性.
Based on the theory of trajectory linearization control (TLC), a new method of trajectory tracking control of all-driven airship is proposed. The method consists of three parts: desired attitude generation, kinematic control and dynamic control. Firstly, The frame constructs the desired hull coordinate system and derives the formula of expected attitude. Then, the kinematics of the system is decomposed according to movement and rotation, and the dynamics is decomposed vertically and horizontally. The whole system is divided into four loops, TLC theory to control the design, avoiding the design-time system-wide inversion difficulties; Finally, the calculation steps of the control method and the typical trajectory of the airship tracking simulation results show that the proposed method is feasible.