Fixed point control of high altitude airship based on state estimations and the characteristic model

针对风场干扰下高空飞艇的定点驻留控制问题,阐述如何利用系统状态估计值和特征模型对飞艇进行控制器设计。首先,在平流层飞艇受力分析的基础上,建立了数学模型;然后设计了扩展卡尔曼滤波器,利用测量得到的飞艇位置信息估算飞艇当前的位置、艇速和风速3个状态变量;随后建立系统特征模型,并将估计所得的状态变量和基于特征模型的黄金分割控制器相结合,对飞艇进行定点控制;最后通过数学仿真验证本文所设计的控制器的有效性,并且和传统PD控制器的控制结果对比,表明了该控制器的优越性。To solve the problem of the fixed point control of high altitude airship disturbed by the wind field, the design of a controller based on the system state estimation and the characteristic model is presented. First, the mathematical model is established based on the force analysis of the stratospheric airship, and then designed the extended Kalman filter, using the measured location information of the airship to estimate the airship current position, airship speed and wind speed. Then the system characteristic model is established, and the estimated state variables are combined with the golden section controller based on the characteristic model. Finally, the effectiveness of the proposed controller is verified by mathematical simulation, and compared with the control results of the traditional PD controller, the superiority of the proposed controller is demonstrated.基金项目：国家自然科学基金面上项目（61273199