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浙江大学学报(工学版)  2017, Vol. 51 Issue (7): 1428-1436    DOI: 10.3785/j.issn.1008-973X.2017.07.022
航空航天技术     
考虑螺旋桨动力学模型的临近空间飞艇控制
郑学科, 王晓亮
上海交通大学 航空航天学院, 上海 200240
Stratospheric airship control considering propeller dynamic model
ZHENG Xue-ke, WANG Xiao-liang
School of Aeronautics and Astronautics, Shanghai Jiaotong University, Shanghai 200240, China
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摘要:

针对临近空间多螺旋桨组合浮空器存在螺旋桨期望推力与实际推力有偏差、能源利用率低、电机扭矩偏大的问题,在六自由度飞艇动力学模型的基础上考虑螺旋桨动力学模型.该模型直接将螺旋桨系统上的电机扭矩信号作为控制系统输入,建立关于螺旋桨和电机的动力学方程,引入了由于外界扰动、螺旋桨桨盘来流速度不同所引起的螺旋桨推力损失动力学方程.基于非线性状态观测器的反馈控制方法对推力损失进行在线估计,使用李雅普诺夫稳定性理论,保证了螺旋桨和观测器系统的“输入-状态”稳定性.使用提出的方法与传统方法进行对比.仿真结果表明,采用该方法能够降低能耗并且更好地追踪参考位置坐标和欧拉角;较小的电机扭矩能够避免电机过早发生饱和问题.

Abstract:

A novel propeller dynamic model combining with the 6-DOF airship dynamic model was proposed based on the fact that the multi-vectored thrust stratospheric airship has differences between desired thrusts and actual thrusts, high energy use, as well as the large value of the motor torque. The propeller dynamic model directly considered the command torque of the motor installed in the propeller system as the control input. A motor-propeller dynamic equation and a propeller thrust loss dynamic equation considering external disturbances and differences between flows on the propeller disk were proposed. The feedback control law based on the nonlinear state observer estimated the propeller thrust loss and the Lyapunov function analysis was introduced to guarantee "input-to-state" stabilities of the feedback system and the nonlinear observer system. A comparative study was conducted using the new model and the conventional one. The simulation results indicate that the proposed method can track three Cartesian positions and three Euler attitude angles better than the conventional one. The consumed energy is much less. The motor torque of the new dynamic model is less than that of the conventional model, which reduces the occurrence of the motor torque saturation problem.

收稿日期: 2016-04-27 出版日期: 2017-07-08
CLC:  V411  
通讯作者: 王晓亮,男,副研究员.ORCID:0000-0002-6343-8427.     E-mail: wangxiaoliang@sjtu.edu.cn
作者简介: 郑学科(1991—),男,硕士,从事高空螺旋桨优化与控制研究.ORCID:0000-0002-0549-6434.E-mail:zxk2046@sjtu.edu.cn
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引用本文:

郑学科, 王晓亮. 考虑螺旋桨动力学模型的临近空间飞艇控制[J]. 浙江大学学报(工学版), 2017, 51(7): 1428-1436.

ZHENG Xue-ke, WANG Xiao-liang. Stratospheric airship control considering propeller dynamic model. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(7): 1428-1436.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2017.07.022        http://www.zjujournals.com/eng/CN/Y2017/V51/I7/1428

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