Abstract: In this paper, a design method of moving-mass stratospheric airship with constant total mass is presented, and the general dynamics equation based on Newton-Euler method is derived. Considering the timedelay of the slider command response and the dynamic coupling to the airship’s state parameters, a position tracking controller with input and state constraints was designed to make the dynamic response system of the slider have critical damping characteristics. By taking the longitudinal attitude motion of moving-mass stratospheric airship as the research object, parametric modeling and attitude control simulation were carried out, and the attitude control ability of moving-mass control under different mass ratios was analyzed. The simulation results show that the attitude control ability is not affected by airspeed, and the mass ratio of slider is the main factor affecting the attitude control ability. The parameters of the slider controller have a direct influence on the dynamic performance of attitude control and also determine the dynamic coupling level of the airship. Compared with the attitude control based on the aerodynamic control surface, moving-mass control can make the airspeed and attack angle converged to the initial state at the steady state, and keep a good aerodynamic shape.

Key words: stratospheric airship, slider, dynamic response, attitude control

摘要： 提出了一种总质量恒定的平流层动质量飞艇的设计方法，并推导了基于牛顿-欧拉法的一般动力学方程。考虑滑块命令响应的时滞性以及与飞艇状态参数的动态耦合，设计了具有输入约束和状态约束的位置跟踪控制器，使得滑块动态响应系统具有临界阻尼特性。以动质量平流层飞艇的纵向姿态运动为研究对象，进行了参数化建模和姿态控制仿真，并分析了不同质量比下动质量控制的姿态控制能力。仿真结果表明：姿态控制能力不受气流速度的影响，滑块质量比是影响姿态控制能力的主要因素。滑块控制器的参数直接影响姿态控制的动态性能，也决定了飞艇的动态耦合水平。与基于气动控制面的姿态控制相比，动质量控制能使飞行器在稳态时的气流速度和攻角收敛到初始状态，并保持良好的气动外形。

关键词: 平流层飞艇，滑块，动态响应，姿态控制