Research on the Control System of Miniature Airship for Search and Rescue
|School||Shandong University of Science and Technology|
|Course||Control Theory and Control Engineering|
|Keywords||Miniature airship mathematical model motion control data collection wireless communication Mega8 PID|
Miniature airship is a type of aircraft which is lighter than air and flies freely relying on the air buoyancy and propulsion system. It has many advantages such as excellent flight characteristics、low maintenance cost、long life、good security、low power consumption、low noise and environmental pollution. Miniature airship has become an important supplement besides satellites and unmanned aerial vehicles and attracted the attention of countries all over the world. Miniature airship is an emerging field which is important to both national defense and national economy, and it also has a bright appliance prospect in the field of rescuing. So there is an urgent need to carry out studies in the field of rescuing.We concentrate on the study of small Miniature airship. In this paper, we discussed the present advances in the field of autonomous airship at home and abroad.we briefly introduced the structure and flight principles of Miniature airship and established the mathematical models in different fly status. This paper designed and implemented the hardware and software system of a small Miniature airship and simulated based on the established mathematical models.In this paper, we firstly carried out mechanical analysis based on the structure of Miniature airship and established the six degrees of mathematical model of the ship through the kinematics analysis and dynamics analysis. Then we presented the overall design of the Miniature airship. In hardware system, we adopted Mega8 as the control center of flying control and designed and implemented the modes of data acquiring, wireless transmission, motor driving and so on. In software system, we adopted the thought of modular design, and finished the design of software flow of different modules divided based on the function of individual module. Finally, we studied the control algorithm of the Miniature airship. We adopted the PID control which is the most widely used control algorithm. We simulated the whc(?)e airship system on matlab with the established pitch and yaw mathematical model and PID control algorithm. The results show that the system designed in this paper is practicable.This article focused on research of a control system for Miniature airship and verified the feasibility of the system through Matlab simulation. The study in this paper is a preliminary exploration of the application of Miniature airship in the field of rescuing.