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摘要:
浮空器悬停或飞行控制设计时，通常将风作为干扰项或阻力，螺旋桨需要消耗大量的能源克服风的阻力，而浮空器携带的能源有限，因此浮空器设计时存在欠能源问题。根据平流层风场的特点，采用副气囊控制浮空器的高度，实现平流层不同高度的风场利用，可以减小浮空器的能源消耗。建立浮空器高度控制模型，采用反步法设计浮空器高度控制器，利用状态观测器对浮空器的模型误差和输入误差进行估计，并进行了仿真分析，证明所设计的控制器能有效控制浮空器的高度。建立浮空器高度控制时其囊体内外压差变化模型，仿真分析表明, 浮空器高度变化后，其囊体最终内外压差与初始压差相同。
Abstract:In the past, when the aerostat hovering or flight control was designed, wind was used as an interference item or resistance, and the propeller was required to overcome the wind resistance. The energy carried by the aerostat is limited, so there is a problem of insufficient energy in the design of the aerostat.According to the characteristics of the stratospheric wind field, this paper uses a secondary airbag to control the height of the aerostat, realizes the utilization of wind fields with different heights in the stratosphere, and can reduce the energy consumption of the aerostat. In this paper, the aerostat height control model is established, backstepping is used to design the aerostat height controller, the state observer is used to estimate the aerostat model error and input error, and simulation analysis is performed to prove the designed controller can effectively control the height of the aerostat. And this paper establishes the change model of the pressure difference between the inside and outside of the airbag when the aerostat height is controlled, and simulates and analyzes the influence of the change of aerostat height on the pressure difference between the inside and outside of the airbag.
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图 7 囊体内外压差变化
Figure 7. Change of pressure difference between inside and outside of airbag
图 9 不同充气速度时浮空器囊体内外压差变化
Figure 9. Change of pressure difference between inside and outside of aerostat airbag at different inflation speeds
图 10 不同充气速度时浮空器高度变化
Figure 10. Height change of aerostat at different inflation speeds
图 11 不同充气速度时浮空器速度变化
Figure 11. Velocity change of aerostat at different inflation speeds
表 1 浮空器模型初始参数
Table 1. Initial parameters of aerostat model
参数 数值 m/kg 2 000 V/m3 22 522 S/m2 938 α3 1 264 Cd 0.5 
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表 2 控制器参数
Table 2. Controller parameters
参数 数值 kz 1/500 kw 2 kΛ 1 000 kz0 1/1 000 kw0 2 kΛ0 2
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