Modeling and controller-designing of a novel driven airship

The model and dynamics of a kind of buoyancy-ballast driven airship are studied. Based on Kirchhoff equations and Newton-Euler laws, we developed the six degree of freedom nonlinear dynamic model for an airship equipped with independent ballonets and ballast by analysis its movement and stress. On the condition of little perturbation, the nonlinear dynamic model is divided into three group equations by restricting airship motion in longitudinal, lateral and e₂-e₃ planes respectively. Then the LQR controller is designed in terms of the longitudinal model of airship. Finally, the characteristics of mode and respond to input of airship as well as the tracking on desired equilibrium flying paths by LQR controller are studied based on the linearized model and test data. The results of simulation by matlab verify the correctness of established model, the rationality of theoretical analysis and validity of control algorithms on this kind of stratospheric airship.