547 research outputs found

    Modelling and Linear Control of a Buoyancy-Driven Airship

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    International audienceWe describe the modelling and control of a newkind airship which is propelled by buoyancy. Based on the Newton-Euler equations and Kirchhoff equations, and referred to the models of underwater gliders and aircraft, a 6DOF nonlinear mathematical model of a buoyancy-driven airship is derived, with features distributed internal mass, and no thrust, elevators and rudders. The attitudes are controlled by the motion of internal mass. The performances of the airship are studied in the vertical plane. A linear feedback controller is derived for the nonlinear model. The results of simulation display robustness properties of the controllers to disturbances

    Electro-thermal Modeling and Design of High-current Pulse Power Supply for Electrically Assisted Manufacturing

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    Modélisation et Commande d’un Dirigeable Propulsé par la Force de Flottabilité

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    A new concept of airship without thrust, elevator or rudder is considered in this thesis. It is actuatedby a moving mass and a mass-adjustable internal air bladder. This results into the motion ofthe center of gravity and the change of the net lift. The development of this concept of airship ismotivated by energy saving. An eight degrees-of-freedom complete nonlinear mathematical model ofthis airship is derived through the Newton-Euler approach. The interconnection between the airship’srigid body and the moveable mass is clearly presented. The dynamics in the longitudinal plane is analyzedand controlled through a LQR method, an input-output feedback linearization, and the maximalfeedback linearization with internal stability. Thanks to maximal feedback linearization, an efficientnonlinear control is derived. In this process, modelling, analysis, and control are solved for specialcases of the airship, which become gradually closer to the most general model. The most constrainedspecial case reduces to a two degree-of-freedom system. It is shown that the basic properties of thistwo DOF mechanical system remain instrumental for the analysis and synthesis of advanced airshipmodels. These properties are far from being obvious from the most complex model. Through a singularperturbation approach, the superposition of the two control actions in the longitudinal plane andin the lateral plane is shown to achieve the control of the dynamics in three dimension.Un nouveau concept de dirigeable est considéré dans cette thèse. Une commande non linéaire est mise en oeuvre, fondée sur la linéarisation maximale de la dynamique

    Nonlinear Control of a Buoyancy Driven Airship

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    International audienceThe control of a new kind of airship is presented. By restricting its flight to a vertical plane, the athematical model is reduced. The simplified model is proved to be minimum phase, and a nonlinear controller based on inputoutput linearization is designed. Since the performance of the controller is significantly impacted by the choice of parameters, simulations of three different pole placement strategies are presented. The nonlinear controller shows better performances than a linear LQR controller when the initial condition is significantly away from the desired equilibrium

    6-Oxo-5-[(trifluoro­meth­yl)sulfon­yl]-1,2,4a,5,6,11b-hexa­hydro-1,3-dioxolo[4,5-j]phenanthridin-2-yl benzoate

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    In the title compound, C22H16F3NO7S, the two benzene rings are almost perpendicular, the dihedral angle between their mean planes being 87.1 (1)°. The terminal O atom of the benzoate moiety is disordered over two positions with site occupancies of 0.244 (15) and 0.756 (15). The crystal structure is stablized by two types of weak inter­molecular C—H⋯O hydrogen bonds
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