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Stratospheric airship plane path tracking control method based on model predictive control

A technology of model predictive control and stratospheric airship, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as limiting input

Active Publication Date: 2015-01-28
BEIHANG UNIV
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Problems solved by technology

These constraints limit the size of the input volume in the airship path tracking process

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  • Stratospheric airship plane path tracking control method based on model predictive control
  • Stratospheric airship plane path tracking control method based on model predictive control
  • Stratospheric airship plane path tracking control method based on model predictive control

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Embodiment Construction

[0089] Below in conjunction with accompanying drawing, each part design method in the present invention is further described:

[0090] The present invention "A Stratospheric Airship Plane Path Tracking Control Method Based on Model Predictive Control", see figure 2 As shown, the specific steps are as follows:

[0091] Step 1: Given expected tracking value

[0092] 1) if image 3 As shown, the hull coordinate system Oxyz is established with the center of buoyancy of the autonomous airship as the origin; the inertial coordinate system O is established with any point on the ground as the origin g x g the y g z g , where the origin O g is any point on the ground, O g x g pointing north, O g the y g Pointing East, O g z g point to the center of the earth.

[0093] 2) Given the desired plane path y p =ax p + b, x p ,y p Desired plane position for the airship.

[0094] 3) Given the desired pitch angle θ c , desired roll angle φ c are all zero.

[0095] 4) Given ...

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Abstract

A stratospheric airship plane path tracking control method based on model predictive control comprises a step of desired tracking value giving; a step of guidance error calculation in which the distance error and angle error between a desired position and an actual position are calculated; a step of vertical and horizontal dynamic equation decomposition in which only the horizontal state quantity is adopted in controller design; a step of discrete system equation solving in which a stratospheric airship lateral continuous system obtained by the steps above is linearly processed, error derivatives are linearly processed, then, the airship lateral state quantity and error are taken as an extended quantity, and an extended continuous state space equation is discretized; a step of system future prediction in which the state or output quantity of a future period of time is predicted according to the current state quantity obtained by a combined inertial navigation sensor and the like; and a step of model predictive control objective function construction in which an objective function is constructed with a predicted state quantity, and the function is solved by a standard QP algorithm to obtain the system input quantity.

Description

technical field [0001] The invention provides a model predictive control-based stratospheric airship plane path tracking control method, which provides a new control method for underactuated stratosphere airships to track plane paths considering the problem of actuator saturation, and belongs to the technical field of automatic control. Background technique [0002] The stratospheric airship is an aerostat that relies on air buoyancy to stay in the air and works continuously all day long in the stratosphere away from the surface. It has the advantages of moderate flight altitude, long mission time, strong survivability, and large payload. It has broad military and civilian prospects in communication, monitoring, traffic management and other fields. Stratospheric airship is a very complex nonlinear system, and there are always certain uncertainties when modeling it. Moreover, there will always be some external interference when the airship flies in the stratosphere. These p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
Inventor 祝明余帅先刘丽莎闫柯瑜陈天
Owner BEIHANG UNIV
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