带有升降气囊与压块的飞艇动力学建模

研究飞艇的动力学建模,将飞艇的机体视为浮力与重力相等的浸没刚体,且考虑了飞艇机体与升降气囊以及压块之间的动力学耦合作用.整体的动力学方程首先通过Newton_Euler定律和Kirchhoff方程推出.此外,应用Hamilton与Lagrange半直积约化理论,可以将动力学方程解释为Lie_Poisson系统或者Euler_Poincaré系统.这两种动力学描述在基于能量的控制设计中有着重要作用.

Dynamic Modeling for Airship Equipped With Ballonets and Ballast

Total dynamics of an airship is modeled. The body of an airship was taken as a submerged rigid body with neutral buoyancy, i.e., buoyancy with value equal to that of gravity, and the coupled dynamics between the body with ballonets and ballast was considered. The total dynamics of the airship was firstly derived by Newton_Euler laws and Kirchhoff's equations. Furthermore, by using Hamiltonian and Lagrangian semi_direct product reduction theories, the dynamics was formulated as a Lie_Poisson system, and also an Euler_Poincar system. These two formulations can be exploited for the control design using energy_based methods for Hamiltonian or Lagrangian system.