CAJ | 학술논문

针对平流层飞艇一般采用多控制机构的特点，将广义逆控制分配方法应用到飞艇姿态控制系统中，并根据飞艇控制机构特性采用了加权伪逆控制分配算法。飞艇姿态控制仿真结果表明：设计的控制分配方法可以有效实现多控制机构的协调操纵，对姿态角控制效果良好，避免了单一操纵舵面过早进入饱和状态的情况；合理调整控制分配权值可减少能量损耗，增强实时性，便于工程实现。
침대평류층비정일반채용다공제궤구적특점，장엄의역공제분배방법응용도비정자태공제계통중，병근거비정공제궤구특성채용료가권위역공제분배산법。비정자태공제방진결과표명：설계적공제분배방법가이유효실현다공제궤구적협조조종，대자태각공제효과량호，피면료단일조종타면과조진입포화상태적정황；합리조정공제분배권치가감소능량손모，증강실시성，편우공정실현。
The stratospheric airships generally act with the redundant control effectors,thus a control allocation approach based on generalized inverse was applied to the airship attitude control system and the weighted pseudo-inverse control allocation method was adopted on the basis of characteristics of airship control effectors.The simulation results of a stratospheric airship attitude control show that:the designed control allocation approach can realize the coordinated operation of redundant control effectors effectively and its control effect on attitude angle is good,which avoids the premature saturation of control surface when using single effector;the reasonable adjustment of control allocation weights can reduce energy consumption,enhance instantaneity and provide convenience in engineering.