CHARACTERIZATION OF NON TRIM TRAJECTORIES OF AN AUTONOMOUS UNDERACTUATED AIRSHIP IN A LOW VELOCITY FLIGHT

Transcription

1 HARAERAON OF NON R RAEORE OF AN AUONOOU UNERAUAE ARH N A LOW VELOY FLGH Ysmin Bsoi, Looi s sèms omls L, 9 Unisié E, Fn soi@ini-f As : h oji of his is o gn si fligh h o follo n onomos ishi h s is sos iho osls As h is si gs of fom n onl h ins fo h L ishi in lo loi fligh, h li onsins o h n-ion Whn h oll n ih ngls s ll s h longiinl loi imos, h fis onsin gis iffnil ion on h ngl, h son li gis iffnil ion on h ll loi n h hi on n ion on h il loi n ms : Aonomos ishi, jo gnion, n-ion - NROUON A si olm h hs o sol onomos hils is h olm of jo gnion jo gnion mns h gnion n ion of ln fo moing fom on loion o noh loion in s o omlish si sk h moion gnion mol gns nominl s s jo n nominl onol in jo iion onsiss in oming fn ls o gin o h onoll n h fis of h [BH], h jois onsi im jois h gnl oniion fo im is h h of hng of h ni of h loi o is inill o, in h o fi fm h im olm is gnll foml s s of non-lin lgi ions h solion jois hlis ih onsn n osion h mos gnl im oniion smls sin mo h sin is is ls i ill in h im n h son, il hlis insig n [A], o nsion is s fo nsiion mning n hlis [] insig oiml jo lnning fo ho i lloons in lin in fils h oji fnion o minimi is fl onsmion ih s o f n ss his il is onn ih mhos of oming jo in 6 gs of fom s h sis h si moion h oniion of his is h hiion of jois, onsiing h n-ion his onsiss of 6 sions ion sns h kinmis hil h folloing on inos h nmis ion inos h lionshi n jo gnion n n-ion imlion sls isss in ion n finll som onling mks gin in sion 6 - KNEA onsi igi o moing in f s Assm n inil fn fm {F} fi in s n fm {} fi o h o h n of gi A h insn, h onfigion osiion n oinion of h igi o n si homognos nsfomion mi osoning o h islmn fom fm {F} o fm {} F F µ Fig g: n of gi, : n of olm : n of on h oigin of {} oinis ih h n of gi of h hil s s Y h inil s of smm hn ill h ms fom igh-hn ohogonl nom fm h osiion of h hil in {F} n si η Whil h oinion is gin η ih g Roll, ih n Y ngls h oinion mi R is gin :

2 s s s ss s R s ss s s ss s s h os n s sin his siion is li in h gion π π < < A singli of his nsfomion iss fo π ± kπ ; k h kinmis of h ishi n ss in h folloing : η R η h * η * V η sn s / n s / V osons o h ngl loi of h igi o, hil V is h lin loi of h oigin of h fm {} - EHANAL YE n his sion, nli ssions fo h fos n momns of ssm ih mss n ini sh s n ishi ino [BH,, F96] An ishi is ligh hn i hil sing lifing gs hlim in his il s W ill mk in h sl som simlifing ssmions: h h fi fm is inil, h giionl fil is onsn, h ishi is ll infl, h nsi of i is nifom [ABL] onsi h s of n ishi ih smll fomions nl i h U Lgngin ho An ishi is oll hs olls sign o hs o i h ishi fo h mos ol olsion ssm lo fo ssi non igi ishis is in olls mon ih si of h nlo oom Anoh on iss in h il fo o oion n i onol n osis hoing floing, is sili is minl ff is n of lif in lion o h n of gi h ishi s n of gi n js o oin ih sl, nl o nsl oniions ing ll igh on h o ol highl nsl lim ih nn o oll o in sl osiion n onmis fligh, sili n ff fins n h gnl lo of h nlo onol ini n ff igh isiion, nmi si sili n onol o lg ill h nslionl ing s fom h oionl [BH], h nmi ions El oiné gin : V * V f * V * V τ h n sil h hil s mss n oionl nsos n τ, n f, sn sil h onol n nononsi os n fos in o s Fo ssm ih msss, h m V * V is non o W n oos R B ig V V R * BG B ig m is h mss of h ishi, h olls n os inls oh h ishi s l mss mi s ll s h il mss lmns ssoi ih h nmis of on hils inls oh h ishi s l inis s ll s h il ini lmns ssoi ih h nmis of on hils As h ishi isls lg olm, is msss n inis om signifin [F96] W ill ssm h h mss offiins onsn h n sim fom h ini ios n h ishi igh n imnsion ms ig V is h * onmis fos igonl mi ig is h * onmis momns igonl mi ni o B : h * on fo o B ρ g h is h olm of h nlo, ρ is h iffn n h nsi of h min mosh ρ i n h nsi of h hlim ρ hlim in h nlo, g is h onsn gi lion BG sns h osiion of h n of on ih s o h o fi fm f h n of gi is lo h n of on, hn BG h onmi fo n sol ino o omonn fos, on lll n h oh nil o h iion of moion Lif is h omonn of h onmi fo nil o h iion of moion n g is h omonn oosi o h iion of moion As

3 oin h h li onsins h ishi is slo moing oj in h i, n ssm lin lionshi n h s n h g V Y ig ig N L ig ig Ω Fis li onsin : h oll momn ing o, τ gis B 6 h ishi A is n n- ssm ih o s of onol in lo loi fligh : fos gn hss n ngl ins onolling h iion of h hss is h il ngl of h olls: on li onsin gis τ f F os sin F B B 7 h n sn sil h min n il hss G G f onsi h ln s ln of smm, h mss n ini mis n in s : m Y m m hi li onsin : gis τ f B N 8 N L is imon o gin insigh ino h gomi s of h ions sin his knolg n sfl in s sh s moion lnning n onol V - RAEORY GENERAON AN UNERAUAON h folloing oh is onsi h iions of h oll n ih ngls s ll s h longiinl loi imos n h infln of h n-ion on h iions of h ngl, h ll n il loiis is si n his gh, h h li onsins iing fom h n-ion sogh onsiing h nmis of h ishi n is olsion, h folloing n-ion onsins n foml Fom h fis li onsin 6 is iln o h solion of n oin iffnil ion of h fom V V V V f sin * * os sin * τ 9 h h h kinmis :

4 B f hn h non onomos gnli logisi ion ms sol : h hi li onsin 8 n in s : A Roll n ih ngls onsn h iffnil ion 6 h B h B mis s gnl solion ln 6 8 / 7 h son li onsin 7 gis : B sing h mho of sion of ils n ingion il fions, in h onsn offiin s, logisi ion n sol n h hio of ll solions is nl h B B Fo ; L Fo ; B

5 Fo h il s, h is onsn, lssil im jois non Whn is no onsn, Fig shos h solion of h iffnil ion hil Fig shos is ii Fig En hogh h is nonlin iion of in h ginning of h simlion, h ngl hs lin iion f in im Fig A nsiionl hio n ogni fo h loi ins mnn onsn l B Roll n ih ngls lin fnions of im n his gh, h oll n ih ngls ssm o h lin iions: Whn h offiins of h non onomos logisi ion no long onsn, no lii solions n fon in gnl n h iliim oin m om nsl [G9] Fo s o oml, h isn of sl ioi o sl on solions is n ssnil of lii ho of his iffnil ion, in o o min non iil solions n s hi hio [G, G9, W, N] Nkshm[N] o h h logisi ion ih osii non onomos on offiins hs l on on solions h is osii n os no n o h o solion oling h fis li onsin 6, h oll momn ing nll,, imlis L Rnging h fis li onsin ih his imn gis :, h ss ossil π o o f h oll ngl is o, h folloing iffnil ions ms sol : o L / L / 8 / h folloing ii is oin osh sinh 9 π h s gis h folloing iffnil ions / / L / / B / h hi li onsin 8 gis δ δ δ δ δ N δ δ δ Y δ δ On h ngl is ll, h lin n ngl loiis min s ll s h h, sing h kinmis

6 V - ULAON REUL Af nsin hnomnon, h ngl hs lin iion n h h ns o lssil hli ih onsn n osion h ligh hn i lfom is h A Ais Aishis is mol ilo ishi sign fo mo snsing is non igi 6m long, m im n 86 m olm ishi i ih o ol ngins on h sis of h gonol n onol sfs h sn h fo siliss nll on h fll n momn is oi i linkg o h sos Enlo ss is minin i f fom h olls ino h o llons lo insi h nl oion of h hll hs llons slf gling n n f fom ih ngin h ngins sn mol if nis h olls n o hogh gs ing fligh h os R n lo s fo ll momns in ih n Fig n his gh, h ss sn fo nomli simlion im - π / π / 6 fig - π / π / 6 fig - π / π / 6 fig 6 Fo h s, fo slos sn : h fis on sns h jo in s, h son on h iion of h ngl, h lin loiis n n finll h ngl loiis,, Fig 6 his jo fig sns of hli ih onsn n osion h ngl hs lin iion hil h ngl n lin loiis onsn n his simlion, h ngl n lin loiis h sligh nonlin iion Af in im, h n o h mnn ls Whn h ii of h longiinl loi is non o, h nonlin hnomnon is mlifi V - ONLUON Fig his sss h olm of hiing oninos hs on h go of igi o moions in, king ino on h nion h iffnil lgi ions ms sol s h is si gs of fom n h ins h onsins on h ngl is in h fom of gnli logisi ion hil h ohs iffnil lgi ions in n, hn h iions of h longiinl loi, n h ih n oll ngls, imos h ol of h jo gno is o gn fsil im jo fo h UAV On h h hs n ll in h Eh fi fm, moion ms insig n fn 6

7 jois min king ino on os onsins his is h sj of o l sh his mho n sil fo is fligh h king sks, sh s in lning oh As fh liion of h jo minion, h iion of on of fsil f osiions n min o l h infln of h iffn kinmi ms on h f fligh h his mhoolog n li o oh s of UAV, king ino on hi hisis Fo fi ing if o hlio, h mss n ini ngl Rfns : [ABL] N Ao, Y Bsoi, O Lmî nmi nlsis of ishis ih smll fomions EEE Woksho on Roo oion n onol, Bko-ok, oln, No, 9- [BH] Y Bsoi, Hml nmi moling of smll onomos lims onfn AR, hos n ols in Aomion n Roois, ioj, oln,, 79-8 [BH] Y Bsoi, Him om insighs in h lnning of smll onomos lims Ahis of onol sins, ol,, 9 66 [] s, R khj, mon Oiml jo lnning fo ho i lloons in lin in fils AAA onl of gin, onol n nmis, ol 6, #,, 6- [F96] Fossn Gin n onol of on hil Wil ss, 996 [G] GG Glnis, K lmis Glol osii solions of gnli logisi ion ih on n non offiins Eloni onl of iffnil Eions, #9, -, [G9] R Gimsh Non lin oin iffnil ions R ss, 99 [W] ing, Wi, B hng osii ioi solions of fnionl iffnil ions n olion mols Eloni onl of iffnil Eions, #7, -, [KG99] G A Kho, Gill s Aishi hnolo mig Unisi ss, 999 [N] N Nkshm nmis of logisi ions ih non onomos on offiins Eloni onl of iffnil Eions, # -8, [] homsson Eions of moion of hil in moing fli onl of Aif, ol 7, #;,