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An Efficient Modeling of Flexible Blimps: Eulerian Approach

[+] Author Affiliations
Selima Bennaceur, Naoufel Azouz

Université d’Evry Val d’Essonne, Evry Cedex, France

Azgal Abichou

Ecole Polytechnique de Tunisie, Marsa, Tunisia

Paper No. DETC2007-35097, pp. 1113-1122; 10 pages
doi:10.1115/DETC2007-35097
From:
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME

abstract

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.

Copyright © 2007 by ASME
Topics: Modeling

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