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首页> 外文会议>ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2007 >AN EFFICIENT MODELING OF FLEXIBLE BLIMPS: EULERIAN APPROACH
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AN EFFICIENT MODELING OF FLEXIBLE BLIMPS: EULERIAN APPROACH

机译：灵活眨眼的有效建模：EULERIAN方法

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摘要

Unmanned Aerial Vehicles (U.A.V.) have a need of a greater autonomy in their new missions. Autonomous U.A.V. flight control systems require a precise modeling of the dynamic behavior taking into account the effect of the flexibility and the interaction with the surrounding fluid. In this paper, we present an efficient modeling of the autonomous flexible blimps. These flying objects are assumed to undergo large rigid-body motion and small elastic deformations. The formalism used is based on the Newton-Euler approach. This one is frequently used for flying rigid objects. In this study we develop a method to generalize the existing Newton-Euler "rigid body" formalisms by including the effect of the flexibility without destroying the global methodology. The method is hybrid. It uses the Lagrange equations and the Eulerian variables. The flexibility appears in the global dynamical system by the way of few supplementary degrees of freedom. This method has the advantage of making easier the elaboration of algorithms of control, stabilization or generation of trajectories. The added mass phenomenon is also taken into account in the dynamical system. This phenomenon is important for big and light objects moving in a fluid such as airships. As validation we use the parameters of an AS-200 blimp belonging to the University of Evry.
机译：无人机在其新任务中需要更大的自主权。自主U.​​A.V.飞行控制系统需要考虑到灵活性的影响以及与周围流体的相互作用，对动力学行为进行精确建模。在本文中，我们提出了自主柔性飞艇的有效建模。假定这些飞行物体会经历较大的刚体运动和较小的弹性变形。所使用的形式主义基于牛顿-欧拉方法。这通常用于飞行刚性物体。在这项研究中，我们开发了一种方法，通过在不破坏全局方法的情况下包括灵活性的影响，来概括现有的牛顿-欧拉“刚体”形式主义。该方法是混合的。它使用拉格朗日方程和欧拉变量。灵活性通过很少的补充自由度出现在全球动力系统中。这种方法的优点是使控制，稳定或轨迹生成算法的拟订更加容易。在动力学系统中还考虑了附加的质量现象。这种现象对于像飞艇这样的大而轻的物体是很重要的。作为验证，我们使用埃夫里大学（University of Evry）的AS-200飞艇的参数。

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