【作者】 周鹏；

【导师】 葛树志；

【作者基本信息】 电子科技大学 ， 控制理论与控制工程， 2013， 硕士

【摘要】 飞艇的飞行原理和结构特点赋予它具有滞空时间长、受天气影响小、能量消耗低、载重量大、安全性能好，可方便的实现垂直起降、空中悬停和低速飞行等诸多优势，在军用、民用领域都有着广泛的应用。小型无人飞艇以其低廉的制造成本和优势，相比于其他小型无人飞行器，在民用领域更具竞争力。本文以小型无人飞艇自动驾驶系统为研究对象，从飞艇理论和系统软硬件设计两方面着手，系统的分析了小型无人飞艇自动驾驶系统的各个模块。首先通过分析飞艇的结构和受力，推导出了六自由度非线性数学模型，并利用小扰动方法进行线性化，将飞艇运动分解为横向和纵向的解耦运动。再将飞艇控制分为基本回路层、引导层和管理层，采用模糊自适应PID算法对多个控制模块进行了分析与控制律设计。基于小型无人飞艇自动驾驶系统总体设计方案，从硬件设备选型到详细电路设计，从软件功能分析到程序流程图设计，完成了对飞艇自动驾驶系统各模块的详细设计。使用Matlab软件模块建立了飞艇的仿真模型和控制器，对飞艇俯仰姿态角、偏航姿态角、航速、高度控制进行了详细的分析与仿真，验证了飞艇模型建立的正确性和控制律设计的合理性。最后，搭建了小型无人飞艇自动驾驶系统平台，包括机械、电路、软件相关的诸多模块，并实验验证了飞艇自动驾驶系统设计的可行性。更多还原

【Abstract】 Due to its flight principle and structural characteristics, airship has manyadvantages, including long air hanging capacity, little affected by weather conditions,low energy consume, strong load capacity, good safety, convenient for vertical takeoffand landing, hovering and low speed flight mode, etc. It is thus widely applied innumerous military/civil areas. Compared with other types of small unmanned aerialvehicles (SUAV), the small unmanned airship with low manufacturing and advantagesis more competitive in civil areas.The present study aims at researching the autopilot system of small unmannedairships. By analyzing airship theories and the software/hardware design, the modulesof autopilot system for small unmanned airship are analyzed systematically.Firstly, a6DOF(Degree of Freedom) nonlinear mathematic model is developed byanalyzing the airship’s structure and force situation, And nonlinear model is linearizedbased on linear perturbation theory, and divided into longitudinal and lateral equations.Then, airship control is divided into basic circuit layer, guiding layer and management,and multiple control modules are analyzed, and control laws are designed using fuzzyadaptive PID algorithm.Based on the overall design scheme of autopilot system for the small unmannedairship, the detailed design in modules of autopilot system is completed, which fromselection of equipment to the detailed circuit design and from functional analysis ofsoftware to the flowchart design.The simulation model and controller of the airship is built using MATLABsoftware, which is used to analyze and simulate for pitch, yaw, speed and altitudecontrol of airship in detail. Simulation results demonstrate that the airship mathematicmodel is correct and the control laws are reasonable.Finally, A small unmanned airship with autopilot system is built, including manymodules related to machinery, circuits and software. And the design of autopilotsystem is feasible based on the experimental verification.更多还原