Modelling and stabilization of a load suspended by cable from an airship - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Multibody System Dynamics Année : 2022

Modelling and stabilization of a load suspended by cable from an airship

Résumé

In this paper we present the modeling of an airship with a load suspended by a flexible heavy cable. The objective is to determine a control law that allows to stabilize the machine and its load under the effect of a gust of wind. In order to overcome the great inertia of the airship and the impossibility of using the accelerations of the latter to attenuate the oscillations of the suspended load, a new actuator was proposed at the exit of the cable in order to control its oscillations, namely a motorized cardan joint. The methodology of the study consisted of extracting a reduced dynamic model, which allowed us to build a robust control vector in order to stabilize the suspended load. The analysis of the stability of the zero dynamics of the system was carried out by means of the phase portraits of Poincaré. Numerical simulations were carried out and demonstrated the interest of our approach.
Fichier non déposé

Dates et versions

hal-04343733 , version 1 (14-12-2023)

Identifiants

Citer

Naoufel Azouz, Mahmoud Khamlia, Jean Lerbet, Azgal Abichou. Modelling and stabilization of a load suspended by cable from an airship. Multibody System Dynamics, 2022, 55, pp.399--431. ⟨10.1007/s11044-022-09831-2⟩. ⟨hal-04343733⟩
33 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More