The paper concentrates on the distinction between original design and proofed design modification. They form a semicircle in plan and a quarter-segment of a circle in elevation. At both ends of the building are doors which conslst of two. The central part of the hangar is of cylin- drical shape consisting of five steel arches covered with a fabric. With a span 210 m, a height of 107 m and a length of 363 m it will be one of the largest halls in the world. Therefore a new hangar for two airship is under construction. Numerical simulation results are presented and stability analysis are provided to confirm the accuracy of our derivations.Ĭurrently a new generation of airships is developed.
Based on this assumption, we design a decentralized controller, which makes it possible to control the airship and the CDPM independently. We assume that the heavy lift airship is a weakly coupled subsystems. Hence, the dynamic model of this multi-body system composed of the airship and the CDPM can be modeled as an interconnection of lower order subsystems. To describe the dynamics coupling, the basic motion of one subsystem is regarded as an external disturbance input for the other one. In the second part, we address the analysis of the heavy lift airship considering the coupling effect between the suspended payload and the airship. The control design should integrate an optimal tension distribution since cables must remain in tension. Hence, our researches concern only the CDPM tacking into account the base mobility at first and then the cable sagging phenomena. In the first part, we assume that there is no inertial coupling between the airship and CDPM. The thesis contributions are presented in two parts. On the other hand, the pendulum-like behavior of suspended load can alter the flight characteristics of the airship. During loading and unloading process, the transferred cargo can oscillate due to airship maneuvers. The heavy lift airship is a multi-body systems in which multiple rigid bodies are joined together. This system makes use of a Cable Driven Parallel Manipulator (CDPM), allowing the airship to load and unload cargo while hovering. Besides, the dynamic model of the heavy lift airship must be clarified before designing a controller. The focus of this thesis is the development of a control architecture that can be integrated on autonomous heavy lift airship and thereby enables safe cargo exchange process. These challenges have led to study in areas of knowledge that were dormant, such as the potential of using lighter than air aircraft for cargo transportation. In the recent years, researchers have become increasingly interested in the development of radically new and sustainable transportation modes for both passengers and cargo. The cylindrical part was analyzed as one large model, containing the five arches, the internal wind bracing, and the external torsional bracing as structural elements. For the analysis, the building has been divided into three parts: the membrane, the cylindrical part, and the doors. The permanent actions contain the weight of all the building elements. For the loading, a distinction has been made between permanent actions and normal and special variable actions. This chapter reports loading, analysis, and design. At both ends of the building are the doors that consist of two fixed and six moving elements. The central part of the hangar is of a cylindrical shape and consists of five steel arches covered with a textile membrane. With a span of 210 m, a height of 107 m, and a length of 363 m, the hanger will be one of the largest halls in the world. Therefore, a new hangar for two airships is going to be built. Nowadays a new generation of airships, the CargoLifter CL 160, is developed.
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