大气紊流下飞艇动力学建模与姿态控制

大气紊流是影响高空飞艇水平面内运动的重要原因，紊流扰动对飞艇的安全性能和定点悬停有严重影响，能否克服扰动，直接决定飞艇的载荷能力和续航时间.根据高空大气紊流的特点以及紊流风速对飞艇姿态调整的影响建立风场的传递函数模型，根据风速三角形关系建立扰动下的飞艇水平面内动力学模型，利用内模控制原理设计出内模控制器，将扰动信号反馈到系统的输入端，从而对扰动进行直接控制.仿真结果表明所设计的控制器可以有效抑制大气紊流对飞艇飞行性能的影响.

Dynamic Model and Attitude Control for Airship Under the Atmospheric Turbulence

Atmospheric turbulence is a key factor that affects the high altitude airship movement in horizontal direction. The turbulence disturbance has a serious impact on the safety and station keeping capability of the airship. Overcoming the turbulent disturbance has a direct influence on the payload carrying and flight duration. According to the characteristics of the high altitude turbulence and the effect on the attitude adjustment, firstly, the turbulent flow transfer function model is built. Secondly, the dynamic model of the airship under the disturbance of the wind field is constructed according to the wind velocity triangle relationship. Lastly, an internal model control method is introduced to design the attitude control system of the airship. The perturbation signal is fed back to the input of the system and thus can control the perturbation directly. The simulation results indicate that the designed controller can overcome the turbulent disturbance impact effectively.