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Technical Paper

Airship Autopilot Design

In this paper a control system design for robotic airship is developed. The nonlinear multilinked mathematic model of airship is considered. The results of aerodynamic analysis, parametric and structure disturbances estimation, nonlinear control algorithms are presented. Airship motion simulator is developed and successfully applied. Airship is implemented on experimental robotic mini-airship.
Journal Article

Continuous-Positional Automatic Ballonet Control System for Airship

This paper is devoted to a method of creating of the automated ballonet system for pressure control inside an airship envelope. Along with the study of the effects of the positional control system parameters, the authors develop novel control scheme. It is based on a new hybrid controller, which combines positional approach to forming the output control signal with a contour of continuous correction of input signal, which defines the pressure drop on the surface of the envelope as a function of the flight altitude. This approach allows reducing the effect of self-oscillations of airship envelope internal pressure on the flight altitude. In order to prove the new approach the mathematical model is being obtained. The results of the derivation and simulations of the control system operation are presented in this paper.
Technical Paper

Impact of the Feeder Aerodynamics Characteristics on the Power of Control Actions in Steady and Transient Regimes

In this paper we consider one of the problems in the development of control system for the feeder for MAAT transportation system. This problem is connected with estimation of inboard energy requirements. Traditionally such estimation is made on the basis of static relations. They allow assessing the power required to move a solid body with a constant air speed. However a contribution from aerodynamic forces and moments can vary depending on a regime of motion (value of linear and angular accelerations, angle of attack, etc). Because of that fact, this work investigates the estimation of the total required inboard energy and contribution of aerodynamic forces and moments to it in specified feeder motion regimes. The method of assessment is based on the feeder model, which is built on the equations of the rigid body. This paper contains general structure of feeder mathematical model, which includes equations of statics, dynamics and control mechanisms.
Technical Paper

The Design of Helicopter Autopilot

In this paper, we study a problem of control system design for small-scale helicopter that has been applied to a robotic helicopter project. The structure of the mathematical models of single-rotor helicopter and the description of its constituent elements are presented. The general mathematical model of a helicopter is a complex multivariable system. This model consists of nonlinear differential equations of the helicopter dynamics, the kinematics and auxiliary equations. The control forces and moments, and also the external disturbances, that affecting on helicopter flight, are in the right side of the dynamic equations. It is necessary to have experimental data for helicopter flight parameters to get adequate auxiliary equations. Those equations have been applied to associate the control forces and moments, to control positions of actuators. In this paper we present the experimental results, estimation algorithms and data-processing.
Technical Paper

Estimation of Energy Potential for Control of Feeder of Novel Cruiser/Feeder MAAT System

Functional and energetic issues of control of feeder-airship of MAAT system are considered in the paper. MAAT (Multibody Advanced Airship for Transport) [1,2] is an environmentally friendly system for transportation of passengers and cargos. It consists of cruiser and a few feeders. Cruiser flies in stratosphere at almost fixed altitude. Feeder acts like an elevator, it delivers passengers and cargos from airport to cruiser and in opposite direction. Paper shows, that wide altitude range feeder flies through, strong and dynamic wind loads at various tropospheric and stratospheric altitudes, makes definition of control strategies and energy requirements for control a nontrivial task. That is why this work pays much attention to assessment and mathematical description of feeder flight environment, existing and potential wind profiles, essentially influencing at feeder flight trajectory. Energy efficiency increase is considered in the paper.
Technical Paper

Method of Docking for Stratospheric Airships of Multibody Transportation System

The paper describes methods for control of docking of two moving stratospheric airships. One of them (cruiser) implements cruising flight at the defined altitude with defined velocity. The other one (feeder) fulfills the mission of chasing the cruiser with following docking operations. Mathematical model of exact airships are used in the work. Instances of structural and algorithmic implementation are based on position-trajectory controller. Simulation of docking control was accomplished with proposed methods.