Modeling of a Quad-Rotor Airship with Wind and Varying Freight Mass Effects
Résumé
Multi-rotor airship have the potential to lift and transport very heavy payloads directly. For the quad rotor hybrid airship, the rotors are not only used for low speed control but also to provide overall lift to compensate for the payload. The objective of this paper is to present a model of such an airship, taking into account wind effect as well as the varying mass effects. Euler angles are used for kinematics. For dynamics, a mathematical description of a dirigible flight must contain the necessary information about aerodynamic, structural and other internal dynamic effects (engine, actuation) that influence the response of the airship to the controls and external atmospheric disturbances.