earticle

영어

Firstly, a novel structure of indoor quad-rotor airship is proposed to overcome the traditional indoor airship shortcomings such as poor balance and lack of buoyancy in this paper. The kinetic model is established according to the design structure and flight characteristics by the principle of Newtonian mechanics and the laws of physics. The force analysis on the quad-rotor airship, including gravity, buoyancy, aerodynamic, wind resistance, propeller force, etc. Secondly, binding Kinetics model, the outer loop position controller and the inner loop attitude controller are designed based on the PID control algorithm. The outer loop position controller includes instantaneous position and velocity, while the inner loop attitude controller includes body angular velocity, Euler angular velocity and Euler angles. The simulation platform is designed by using Matlab/Simulink. The simulation results demonstrate the correctness of the dynamic model and the effectiveness of the control method. Finally, according to the PID’s effect on time-varying system and nonlinear system is not very well perfect, we adopted Lyapunov stability theorem and backstepping algorithm to design the controller and divides the whole system into two return circuits and each circuit are divided into three second-order systems which reduce order number of controller effectively. And the control algorithm achieved good results.