【作者】 初丽华；

【导师】 李一波；

【作者基本信息】 沈阳航空航天大学 ， 模式识别与智能系统， 2011， 硕士

【摘要】 近年来,随着现代材料技术、计算机技术、控制技术和航空技术的不断发展,无论在军用还是民用上,飞艇的飞行控制技术都获得了相当大的关注。飞艇其独特的飞行性能和良好的效费比,使飞艇成为一种极具发展前景的飞行器。其中,室内飞艇又有自己的优势,只需很少的动力就可长时间飞行,而且不受天气因素的影响,减少了控制难度,这使得室内飞艇具有更广泛的发展空间。根据室内飞艇的特点,建立了室内飞艇的数学模型,对其进行稳定性分析,在此基础上制定了飞行控制律,并通过MATLAB仿真验证了控制效果,具体内容如下:1.介绍了飞艇的发展历史、背景及其结构。并对国内外的飞艇研制现状作了简要的说明。总结了室内飞艇的广泛应用价值和良好的发展前景。2.以北京科技馆异形飞艇的项目为背景,建立了室内飞艇的数学模型。首要解决的问题是利用现有理论和数据,建立室内飞艇的数学模型,以便于进行控制器的设计。3.根据室内飞艇的运动方程,对室内飞艇进行稳定性分析。重点从分析室内飞艇的矩阵特征值入手,判断其稳定性情况。并根据特征质的变化到室内飞艇的运动特征模态,对其分类命名,并对其物理成因进行研究。4.研究了室内飞艇的控制规律。根据室内飞艇线性化解耦后的两组多输入多输出的状态方程,得到单输入单输出的传递函数形式,通过MATLAB中的SISO设计工具,采用闭环控制的方法,对控制量n2,n3进行PID控制。更多还原

【Abstract】 In recent years, along with the development of modern material technology, computer technology, control technology and aviation technology unceasing development, no matter in military or civilian, airships autonomous control technology has received considerable attention. Because its unique flight performance and good cost-effectiveness ratio, airships become a kind of extremely development prospect of aircraft. What’s more, the indoor airships also has its own advantages, for example, they can be long time flights with very little power , and from the weather influences, which reduces control difficulty. These advantages make indoor airship have wider development space.According to the characteristics of indoor airship, the mathematical model of indoor airship is established, then its stability is analyzed, and based on this, the flight control law is established ,and through the simulation of MATLAB verifies the control effect. the concrete content as follows:1.The development history, the background and structure of indoor airship are introduced. A brief description is made about the airships research status both at home and abroad .The indoor airships extensive application value and good development prospect are summarized.2.Based on the Beijing science and technology museum special-shaped airships project, the mathematical model of indoor airships is established. The first problem of this paper is to utilize the existing theory and data to establish a mathematical model of indoor airship, and this model should facilitate undertake the controller design.3.According to the indoor airships motion equation, its stability is analyzed. First of all, the indoor airships matrix eigenvalues is analyzed, which can judge its stability. And according to the characteristics of qualitative change to an indoor airships characteristics of the movement modal, named its classification, and its physical cause.4.Then this paper studies the control rule of indoor airship. According to the linear decoupling after dissolve of two groups of multiple input multiple output state equation, the transfer function which is single input and single output is got. Finally through MATLAB SISO design tools get the control law.更多还原