The invention discloses a guidance and control integration and control distribution method of a stratospheric airship. The method comprises the steps of: (1) building a mathematical model of the stratospheric airship; (2) navigation calculation of a plane path: giving an anticipant plane path fc(x, y)=0; calculating a position tracking error ep; and designing a control law; (3) giving an anticipant speed tracking value vc; calculating a speed error ev; and designing a speed control law; (4) giving an anticipant pitch angle theta c; calculating a pitch angle tracking error e theta; and designing a pitch attitude control law; (5) giving an anticipant roll angle phi c; calculating a roll angle tracking error e phi; and designing a roll angle attitude control law; (6) giving an anticipant height hc; calculating a height tracking error ec; and designing a height control law; (7) comprehensively solving the steps (2) to (6) to obtain an upper system control law; (8) building an optimization criterion of lower control distribution; (9) determining a weight matrix W; and (10) solving an equation set of control distribution; and outputting an actual control quantity. The method can guarantee effective distribution of faults to a faultless execution mechanism to finish a flight mission.
Guidance and control integration and control distribution method of stratospheric airship
2015-12-23
Patent
Elektronische Ressource
Englisch
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