摘要
Total dynamics of an airship is modeled. The body of an airship is taken as a submerged rigid body with neutral buoyancy, i.e., buoyancy with value equal to that of gravity, and the coupled dynamics between the body with ballonets and ballast is considered. The total dynamics of the airship is firstly derived by Newton-Euler laws and Kirchhoff’s equations. Furthermore, by using Hamiltonian and Lagrangian semi-direct product reduction theories, the dynamics is formulated as a Lie-Poisson system, or also an Euler-Poincaré system. These two formulations can be exploited for the control design using energy-based methods for Hamiltonian or Lagrangian system.
Total dynamics of an airship is modeled. The body of an airship was taken as a submerged rigid body with neutral buoyancy, i.e., buoyancy with value equal to that of gravity, and the coupled dynamics between the body with ballonets and ballast was considered. The total dynamics of the airship was firstly derived by Newton_Euler laws and Kirchhoff's equations. Furthermore, by using Hamiltonian and Lagrangian semi_direct product reduction theories, the dynamics was formulated as a Lie_Poisson system, and also an Euler_Poincar system. These two formulations can be exploited for the control design using energy_based methods for Hamiltonian or Lagrangian system.
出处
《应用数学和力学》
CSCD
北大核心
2005年第8期979-987,共9页
Applied Mathematics and Mechanics
基金
Project supported by the National Defense Pre-research Foundation of China (No.415011102)
关键词
飞艇
动力学建模
KIRCHHOFF方程
半直积约化
<Keyword>airship
dynamical modeling
Kirchhoff's equation
semi-direct product reduction
