Design and Realization of Autonomous Control for an Unmanned Airship
| Autor: | Yuan-Kuan Yang, 楊元坤 |
|---|---|
| Rok vydání: | 2002 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 90 In this research, we develop an unmanned airship system. In addition to the traditional Remote Control system, a PC-based flight control system was developed to improve flight stability and maneuverability. The system includes two parts: the vehicle and the ground control console. The vehicle consists of an envelope, a gondola, a pair of elevator and rudder, a thrust-vector system and a flight control unit. The ground control console consists of a control joystick and a notebook, which is used to input control command and to monitor the airship. Both of them are PC-based, and we can easily change their behavior by modifying the software. The technology developed in this research can be applied to other unmanned systems. During designing control laws, we analyze the flight dynamics of the airship first then establish governing equation. The system parameters are obtained partly by direct measurement of the airship and partly by compare other similar airships. An auxiliary height and point-to-point control law is designed based on this model. To simplify the design process, we decouple the system and design respective controllers to stabilize vehicle motion and pitch motion separately. Finally, we can improve entire control performance by analyzing numerical data from experiments and adjusting relative control gains. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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