Elements of MicroAirship Control Logic

Control Surface States

Propulsion Motor States

Notes

1) Each column is a primitive state machine with cells as single states. Default states in bold type.

2) State transitions one step at a time along column dimension. Fuzzy Logic is used to interpolate smooth transitions between primitive states, and to adjust flight trim.

3) In full default state the airship slowly glides down in large circles.

4) This is a four dimensional state machine with 440 states that combine in scripts to effect basic flight maneuvers.

Basic Flight Maneuvers

This dimension relates to the overall activity level of flight operation as required by Task or BatteryLevel.

Notes

Pitch and Roll is only effected when airship is in motion. In this design, where the flattened Vee-Tail works as elevons, the default turn is done by rolling first, then pitching into the desired direction. Yaw is produced by differential thrust and can be done in-place to modify Heading without moving Station. This is useful for StationKeeping, where the airship points and powers to counteract the prevailing breeze.

Attitude

The lookup table below, borrowed from a VR semantic schema, applies to the airship, with the following translation: bottom = tail, top = nose, face = ventral, rear = dorsal,

HeadingNorth HeadingNorthEast ClimbRateHigh Level LoopInside RollLeft DescendRateHigh

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Thanks for flying PolyCosmos

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