Modelling and analysis of autonomous stratospheric airship

Based on the Kirchhoff equations, Newton-Euler laws, boundary layer theory and mass definition, the six degrees of freedom dynamic model of airship complete with aerodynamic forces, wind effect and coupling between the airship and internal mass is presented. The airship attitudes can be controlled by internal mass besides elevators and rudders, and airship flight can be only propelled by the couple motion of internal mass besides propeller. Then, the nonlinear dynamic model is divided into three group equations by restricting airship motion in different planes respectively. The motion characteristics of airship are studied using linearized model. The results of simulation verify the correctness of the theoretical analysis and airship model.