Contribution à la modélisation et la commande des dirigeables gros porteurs non-conventionnels

Abstract : Large airships (DGP) have huge potential for development and will soon be able to take a significant share of freight transport around the world. However, some problems related to their sensitivity to winds must be solved. In order to achieve a good reliability of the craft and its missions, it is essential to automate as much as possible the operation of the airship. The present work fits into this context and focuses on the modeling and control of non-conventional DGP. We present the mathematical equations that describe the equation of motion of a non-conventional DGP. Kirchhoff's formalism was used to elaborate the model of the airship with load suspended in the quasicoordinates by relying on a nonlinear kinematics of order two. We considered the hypothesis of flexibility and elongation of the cable in order to obtain a fairly accurate model. To minimize the drift of the airship in adverse weather conditions we propose to use the concept of anticipatory control by exploiting the information given by the LIDAR technology. We used the input output linearization method and NCPCG non-linear predictive control techniques, which we enriched with anticipation terms to build a vector control by feedforward. To circumvent the dangerous oscillations of the load we relied on the classical method of the control by inverse dynamics and the innovative command without model (CSM). An essential step in order to apply these controllers is to study the behavior of the zeros dynamics. For the model of the airship with suspended load we have shown that the zeros dynamics is given by the state of cable flexibility and the conditions of its asymptotic stability have been established.
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Mahmoud Khamlia. Contribution à la modélisation et la commande des dirigeables gros porteurs non-conventionnels. Mécanique [physics.med-ph]. Université Paris Saclay; Université d'Evry-Val-d'Essonne; Ecole Polytechnique de Tunis, 2018. Français. ⟨NNT : 2018SACLE023⟩. ⟨tel-02095871⟩

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