Research And Implementation Of The Active Disturbance Rejection Control Embedded System For Unmanned Airship

The Airship is a type of aircraft,which can lift-off and fly relying on the air buoyaney.Compared with other aircraft,the airship has the advantages of low manufacturing cost,long time in the sky,low energy consumption,simple operation etc,and achieve vertical landing and fixed-point suspension easily.At present,most of the applications of the airship are at the operation of manual or remote controling,which greatly limits flight environment and flight conditions of airship.With the arrival of the era of unmanned air,the application value of unmanned airship makes airship become a hot spot of the research of the unmanned aerial family.The thesis takes the small soft airship of low altitude as the research object.According to the analysis of the movement characteristics and control of the airship,the active disturbance rejection control technology and embedded technology,the thesis designs the overall scheme of unmanned airship control system from the control method and hardware and software.Firstly,a noninear mathematical model of six degree of freedom is established by analyzing the motion characteristics and force of the airship.Through the small perturbation method,the mathematical model of the airship is linearized and decoupled into horizontal and vertical control channels.On the transverse and longitudinal channels of the airship,the airship motion is regarded as the superposition of three kinds of motion modes by using motion mode analysis method.According to the different characteristics of the lateral and longitudinal motion of the airship,the thesis designs the active disturbance rejection controller(ADRC),and carries out MATLAB simulation under the condition of no interference and interference(wind,Wind shear,random interference).Compareing with the PID,the control effect and good anti-interference performance of the ADRC are verified.In the software and hardware,according to the needs of the airship control system,the thesis design the hardware system based on the processor of S3C2440 A and airship device.The whole software system is designed with the concept of modular design Based on embedded Linux system.Based on 3G communication technology,the information transmission channel of airship is designed.The graphic interface of PC is designed by QT graphical interface programming to achieve Sharing and transmission of data information of the airship.