北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (8): 940-944.

• 论文 • 上一篇    下一篇

高空系留气球建模与稳定性分析

祝 明1, 左宗玉2   

  1. 1. 北京航空航天大学 航空科学与工程学院, 北京 100191;
    2. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2009-06-23 出版日期:2010-08-30 发布日期:2010-09-07
  • 作者简介:祝 明(1976-),男,山东济宁人,讲师,zhuming@buaa.edu.cn.
  • 基金资助:

    北京市教委共建重点学科基金资助项目(XK100060422)

Modeling and stability analysis for high altitude tethered balloon

Zhu Ming1, Zuo Zongyu2   

  1. 1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2009-06-23 Online:2010-08-30 Published:2010-09-07

摘要: 平流层高空系留气球是典型的无控制欠阻尼自治系统,因此平台本身应当具有较好的稳定性,然而该系统的线性化模型含有零特征根,导致经典的Lyapunov第一方法难以从理论上获得其稳定性结论.从一般刚体的Newton-Euler方程出发,根据刚体对任一点的平动和转动方程,建立基于广义坐标的高空系留气球二阶非线性动力学模型,并针对Lyapunov方法证明稳定性的局限性,从能量的角度运用拉格朗日定理证明了高空系留气球的稳定性,数值仿真结果与理论结果一致.

Abstract: Stratosphere high altitude tethered balloon (HATB) is a typical under-damping autonomous system, so it is required for the platform itself to be stable. However, it is hardly to investigate the platform stability theoretically through the classical Lyapunov first method, because there exist zero eigenvalues in the linearized model. The rigid translation and rotation equations with respect to any arbitrary point were presented, and then the general coordinate-based, second order, nonlinear dynamic model was proposed for HATB. In view of the limitation of the Lyapunov method, Lagrange theorem was applied to prove the platform stability problem from the perspective of energy. Numerical simulations demonstrate the coincidence with the theoretical analysis.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发