平流层飞艇平台姿态控制研究硕士学位论文.pdf

南京航空航天大学
硕士学位论文
平流层飞艇平台姿态控制研究
姓名:何荣斌
申请学位级别:硕士
专业:控制理论与控制工程
指导教师:徐波
20090201
南京航空航天大学硕士学位论文
摘要
平流层飞艇平台的研究在国防和国民经济建设中具有广阔的应用前景,由于拥有诸多优点
已成为流层飞艇的诸多关键技术中,自主飞行控制系统的开发是
至关重要的。本文在国内外公开发表的资料的基础上,对空中无人飞艇的姿态控制问题进行研
究。主要工作包括以下几个方面:
1、采用机理分析的方法,在详细分析飞艇受力情况的基础上,依据理论力学原理和运动参
数之间的几何关系建立了飞艇的六自由度非线性运动方程,并采用小扰动线性化方法对飞艇的
运动方程进行线性化,解耦为纵向和横向两组方程;
2、基于确定性方法,讨论了TRIAD双矢量定姿的具体算法,给出了一种利用地磁矢量和
加速度矢量联合定姿的粗定姿算法;基于状态估计法,通过Kalman滤波器完成陀螺/加速度计和
磁强计方案的姿态确定系统,实现载体的最优姿态估计。仿真试验表明,捷联姿态系统动态性
能较好,能够满足设计指标要求。
3、应用满意控制思想, 研究了期望指标扇形区域极点, 稳态输出方差和动态误差系数约束
下飞艇姿态控制系统的控制设计问题。将飞艇姿态控制分为纵向控制和横侧向控制,采用满意
PID控制的方法,分别为其设计了控制律,并进行了仿真验证。其次,还分析了横向阵风对飞艇
姿态控制的影响。

关键词:平流层飞艇,姿态确定,姿态控制,卡尔曼滤波,满意PID控制
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平流层飞艇平台姿态控制研究
Abstract
The study of stratospheric airship platform has wide applications in the fields of transportation,
observation, and munication services, etc. and then the stratospheric airship with many
excellences es popular research subject in international. Among the key technologies applied in
development of the stratospheric airship, the design of auto-control system is most important. In this
thesis, the unmanned airship modeling and attitude control methods are studied. The works of study
and design of the stratospheric airship are as follow:
Firstly, based on analysing the forces acting on the stratospheric airship particularly, a nonlinear
model is presented as the six-degree-of-freedom dynamic equation of motion according as the
physical principles of the airship nonlinear equation is then linearized on the condition
of littleturbation, and divided into longitudinal and lateral equations.
Secondly, based on the deterministic method, discussing TRIAD algorithm which determine the
attitude from double vector observations and a simple attitude determination method using
accelerometer and ometer vectors, are presented. Based on state estimation, the paper makes
use Kalman filter for data integration of the gyro, ac