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针对平流层飞艇工作高度空气密度低,飞行速度低的特点,提出了变质心姿态控制的方案。在机体坐标系下,采用牛顿—欧拉方法建立了浮空器的动力学方程,并分析了变质心动力学模型的特性,给出了质量滑块的参数化驱动方法。采用了ADAMS动力学分析软件,进行了不同飞行条件下的变质心动力学仿真。仿真结果显示了滑块质量、位移、速度以及飞艇速度等条件的改变对姿态控制的影响,结果表明:滑块的质量比和移动距离是影响变质心姿态控制能力的主要因素,滑块的速度决定系统的响应特性;变质心操纵能力不受飞行速度的影响,因此在低速飞行时具有很强的适应性。
Aiming at the low air density and low flight speed of the working height of the stratosphere airship, a scheme of the attitude control of the modified heart is proposed. In the body coordinate system, the aerodynamic equation of aerostat is established by Newton-Euler method. The characteristics of the metamorphic dynamics model are analyzed, and the parameterized driving method of mass slider is given. ADAMS dynamics analysis software was used to simulate metamorphic dynamics under different flight conditions. The simulation results show that the mass, displacement, velocity and airspeed of the slider influence the attitude control. The results show that the mass ratio and the moving distance of the slider are the main factors affecting the attitude control ability of the metacentric mass. The velocity of the slider Determine the response characteristics of the system; Centroid control ability from the flight speed, so low-speed flight has a strong adaptability.