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摘要:
飞艇具有能耗低、留空时间长等优势，被广泛应用于高低空任务中，由于工作在复杂恶劣的空中环境，经常会受到气流等随机干扰的影响，若不考虑这些干扰的作用，通常会导致飞艇性能的严重下降。针对飞艇抗随机干扰控制，结合随机系统相关理论，在动力学建模时考虑气流随机干扰项的影响，基于反步法、自适应技术及李雅普诺夫稳定性分析理论，设计了抗随机干扰的鲁棒控制器，并进行了数值仿真。仿真结果表明：在有随机气流的干扰下，所设计控制器仍能将飞艇快速部署到实验地点，并以要求的姿态悬停。
Abstract:Due to their long endurance and low energy consumption, airships are frequently utilized in both high-altitude and low-altitude missions. Studying the airship's anti-stochastic disturbance control is essential since it operates in a complex environment and is frequently impacted by random interference like airflow. Based on the theory of stochastic systems, this paper considers the influence of stochastic disturbance term in the dynamic modeling of stochastic systems. Then, based on the backstepping method, adaptive technique and Lyapunov stability analysis theory, a robust controller against stochastic disturbance is designed. The simulation results demonstrate that the developed controller can quickly steer the airship to the trial site and hover with the desired attitude in the presence of stochastic airflow disturbance.
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Key words:
- airship /
- dynamic modeling /
- stochastic disturbance /
- stochastic control /
- backstepping method
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图 2 鲁棒自适应悬停控制器控制原理框图
Figure 2. Schematic diagram of the control principle for a robust adaptive hovering controller
图 3 受纵垂向扰动与未受扰动飞艇位姿响应
Figure 3. Position and attitude response of airship under longitudinal disturbance and without disturbance
图 4 受横侧向扰动与未受扰动飞艇位姿响应
Figure 4. Position and attitude response of the airship under directional disturbance and without disturbance
图 9 随机和确定反步法下飞艇位置跟踪响应对比
Figure 9. Comparison of tracking response for the airship’s position under stochastic and deterministic backstepping methods
图 10 随机和确定反步法下飞艇水平位移响应对比
Figure 10. Comparison of horizontal displacement responses of airship under stochastic and deterministic backstepping methods
图 11 加大干扰时随机和确定反步法下飞艇位置跟踪响应对比
Figure 11. Comparison of tracking response of airship’s position under stochastic and deterministic backstepping methods when increasing disturbances
图 12 加大干扰时随机和确定反步法下飞艇水平位移响应对比
Figure 12. Comparison of horizontal displacement responses of airship under stochastic and deterministic backstepping methods when increasing disturbances
表 1 飞艇仿真模型参数
Table 1. Parameters of the airship simulation model
参数 数值 参数 数值 m/kg 1200 zG/m 2 km1 0.079 Ix/(kg·m2) 9024 km2 0.869 Iy、Iz/(kg·m2) 16900 km3 0.631 Ixz/(kg·m2) 2198 xG/m 0 Va/m3 1800 
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