Chapter 16

Performance Simulation of Serviceable

Stratospheric Balloon Control Using
MATLAB/Simulink

Öznur Kayhan, Özgün Yücel and M. Alaittin Hastaoğlu

Abstract The design of serviceable stratospheric balloon requires descent control

mechanism to make it safe and reliable. On the basis of balloon dynamics, heat and
mass transfer aspect, Gas-Compress-Release control model that is developed before
used to describe the ascent, descent and flight processes for high altitude zero
pressure balloons. The behavior of the balloon system during safe landing has been
numerically investigated for the first time. The model was validated using NASA
test flight. The effect of PID control on compress-release mechanism is discussed in
detail. It was found that with the sacrificial flight Gas-Compress-Release model it is
possible to place the balloon at its orbit, to extend flight time and to interfere with
the balloon system whenever needed for technical service without using ballast. The
results are helpful for the design and operation of safe and reliable serviceable high
altitude stratospheric balloons.

Nomenclature
Ap Projected area of the balloon, m2
C1, C2 Surface concentrations of the Lift-Gas at the inside and outside surfaces
of the balloon (kmol/m3)
Cd Drag coefficient
Cib, Cout Inside and outside concentrations of the Lift-Gas (kmol/m3)
DABre Real effective diffusion coefficient (m/s2)
g Gravitational acceleration (m/s2)
hci, hco Convective heat transfer coefficients at the inside and outside surfaces of
the balloon (W/m2 K)
kci, kco Convective mass transfer coefficients at the inside and outside surfaces
of the balloon (m/s)
kf Thermal conductivity of the balloon wall (W/mK)
M Total weight of the balloon and auxiliary equipment (kg)
NA Lift-Gas flux (kmol/m2 s)

Ö. Kayhan (&)
Ö. Yücel
M.A. Hastaoğlu

Gebze Technical University, Kocaeli, Turkey
e-mail: okayhan@gtu.edu.tr

© Springer International Publishing Switzerland 2016 177

T.H. Karakoc et al. (eds.), Sustainable Aviation,
DOI 10.1007/978-3-319-34181-1_16

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178 Ö. Kayhan et al.

qinf ext External infrared radiation density (W/m2)

qinf int Internal infrared radiation density (W/m2)
qT, qrad Total heat flux form the lift gas and solar radiation flux (W/m2)
T1, T2 Temperatures of the Lift-Gas at the inside and outside surfaces of the
balloon (K)
Ta, Tib Atmospheric temperature and bulk temperature of the Lift-Gas (K)
v Velocity of the balloon relative to the air, (m/s)
α Solar absorptivity of the balloon film
ρair, ρb Density of the air and balloon system (kg/m3)
Δt Time step (s)
Δx Balloon wall thickness (m)

16.1 Introduction

High altitude scientific balloons provide a cheaper way as an observation platform

for atmospheric studies, research missions or data collection than is currently
available. The preparation for the balloon mission requires an accurate and reliable
flight performance prediction method in order to accomplish the job successfully
(Dai et al. 2012).
The studies on balloon and airship systems have been continued for many years
in areas of control, flight test, structure etc. (Xia et al. 2010). The high altitude
airship is a thermal vehicle. It lives in a mostly radiant thermal balance considering
many heat sources that influence it. When warm, the balloon gas expands and either
pressurizes the gas envelope or is vented out.
If venting takes place with zero pressure balloons, night time cooling makes
ballast dropping necessary (Farley 2005). However, up to now there was no balloon
control model available that could carry large payloads at constant altitude without
using ballast.
We have developed a model of stratospheric balloon using transport phenomena
and Gas-Compress-Release system to keep balloon at constant altitude for a long
time such as 485 days (Kayhan and Hastaoğlu 2014). In the past decades, some
research has been published on high altitude balloons, but many of them have
focused on the geometry, thermal designs, and selection of a suitable material to go
to higher altitudes. To design a balloon system, not only temperature prediction is
necessary but also the other transport mechanism and ascent and descent processes
are necessary. Up to now, there is no study to interfere with the balloon if technical
service is needed.
There has been no study about descent control and safe landing to the ground.
Safe landing is important to keep the equipment from any damage and predict the
balloon landing coordinates. The aim of this study is to combine heat, mass and
momentum equations with a Gas-Compress-Release system for velocity control in

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16 Performance Simulation of Serviceable Stratospheric Balloon … 179

order to track the balloons and keep them at target altitudes for longer periods and
interfere with it anytime needed.

16.2 Balloon Dynamics, Heat and Mass Transfer Model

For the stratospheric balloons, a model was developed based on balloon dynamics,
heat and mass transfer aspects which had not been studied simultaneously before. It
was combined with a velocity control mechanism (Kayhan and Hastaoğlu 2014).
Summary of the model equations is given below.
Dynamic model for the balloon velocity:

dv v 1 q  qair
¼ Cd qair v2 Ap þ b g ð16:1Þ
dt kvk 2M qb

Gas mass transfer model for calculating leakage of the Lift-Gas:

 
C1  C2
NA ¼ kci ðCib  C1 Þ ¼ DABre ¼ kco ðC2  Cout Þ ð16:2Þ
Dx

Heat transfer model equation to predict the temperature of the Lift-Gas:

kf
qT ¼ hci ðT1  Tib Þ þ qinf int ¼ ðT2  T1 Þ
Dx ð16:3Þ
¼ hco ðTa  T2 Þ þ aqrad þ qinf ext

16.3 Numerical and Control Method

In this study, the main program and subroutines for altitude control, heat, mass and
momentum transfer models for the stratospheric balloons were written in
MATLAB/Simulink software package. Gas-Compress-Release velocity control
model was solved using an iterative equation solver program using
MATLAB/Simulink. The balloon system consists of helium inside and
Gas-Compress-Release control system. The storage unit of the control system has
no mass transfer with the external environment. The mass transfer between the
balloon inside and control system is conducted through valve. The sketch of the
balloon system is presented in Fig. 16.1
Before the launch, on the ground, a certain amount of helium was pumped into
the balloon until it started to rise from the ground. Balloon was controlled to reach
the target altitude (30,000 m in this work) and made steady at its orbit. When the
balloon ascends over the 30,000 m altitude, the Lift-Gas inside the balloon (helium

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180 Ö. Kayhan et al.

Fig. 16.1 Balloon control

system

initially) is evacuated in a controlled manner (Mgain) by pumping it to the

Lift-Gas-Storage. Thus the volume of the balloon decreases preventing its rise
further. At altitudes higher than the target value, pumping is continued until the
balloon started to descend below the target altitude. However for altitudes lower
than the target value, Lift-Gas is released into the balloon from the storage tank.
The Compress-Release cycle is continued until all available storage gas is con-
sumed due to escape through the balloon wall. Naturally, then the descent starts.
A certain amount of Lift-Gas is to be kept as landing gas to accommodate a soft
landing. Anytime to start the balloon descent, certain amount of helium inside the
balloon is compressed to the gas storage tank (Mgain). This amount is controlled by
PID controller.

16.4 Results and Discussion

The accuracy of the zero pressure high altitude balloon model based on transport
phenomena and Gas-Compress-Release system introduced in this work is consid-
ered by comparison with the experimental results of a NASA super pressure balloon
Test Flight 586 NT (Cathey 2009). The test balloon flight took place at 07:18 AM
on June 22, 2008 from Ft. Sumner, New Mexico. After the balloon reaching a
steady float altitude of 30.5 km a total of 109 kg ballast was dropped to pressurize
the balloon. In the present model ballast is not used. But a similar weight is stored

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16 Performance Simulation of Serviceable Stratospheric Balloon … 181

as Lift-Gas and used by Gas-Compress-Release control system. In the present

model the same conditions and weight for NASA test flight were used.
Some simulation studies were made before (Dai et al. 2012; Liu et al. 2014) for
flight at 30,000 m but only ascent process comparison with the measured data was
validated; not all process was done. In the present model all ascent, flight and
descent processes were compared with measured data without using ballast.
Figure 16.2 compares the predicted altitudes with the measured data. The agree-
ment is quite good.
Using the same conditions of NASA test flight in the present model, Lift-Gas
Storage—helium inside the balloon and payload weights were increased to
1000 kg. Figure 16.3 plots the time-altitude variation. It can be seen that balloon
system keeps its altitude for 330 days. Using this balloon with long flight perfor-
mance, intervention to the balloon was studied.

Fig. 16.2 Altitude

comparison of the predicted
data with measured data

Fig. 16.3 Variation of flight

time with altitude

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182 Ö. Kayhan et al.

Fig. 16.4 100th day descent with PID control

Fig. 16.5 Variation of flight

time with altitude with and
without control

On the 100th day of the flight, command pulse was ordered to start the descent
by Gas-Compress-Release System. From Fig. 16.3 it can be seen that it is possible
to descend the balloon system any time when technical service is needed.
Figure 16.4 shows PID descent control Simulink result for the 100th day. It can be
seen that before descent Gas-Compress-Release mechanism with PID control keeps
the balloon at 30,000 m altitude well and provides to reach to the ground.
Without control, the balloon system behavior is shown in Fig. 16.5 for eight
days of long flight. It can be seen that without control the balloon rises 12,000 m
over the desired altitude (30,000 m).
For the safe landing, descent velocity to the ground is a critical parameter of
flight. From Fig. 16.6 it can be seen that balloon lands to the ground with 0.78 m/s
and this velocity is very safe for the equipment which balloon carries. Also, landing
time is recorded as 70 min.

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16 Performance Simulation of Serviceable Stratospheric Balloon … 183

Fig. 16.6 100th day descent velocity variation to the ground

16.5 Conclusions

In this study, an algorithm for a balloon system has been written with MATLAB/
Simulink. The descent and flight behavior of a high altitude balloon with PID
control has been numerically investigated and validated using field data. It is
believed that the Gas-Compress-Release model with PID control permits a way to
intervene the balloon any time for technical service. And this control also permits
better prediction of not only the ascent but also the descent process and flights at
constant altitude for longer periods. The following conclusions were made:
• Safe landing to the ground is a strong function of the helium mass inside the
balloon and it can be controlled by PID controller.
• The PID Control of Compress-Release helps the balloon reach the target altitude
keeping it there for a longer period and descent anytime of the flight with safe
landing speed for the equipment without using ballast.
• It is found that when stored gas and content of the balloon lifting gas weights are
1000 kg, balloon could carry 1000 kg payload at 30 km for 330 days. Under
these conditions, it is possible to descend the balloon to the ground with PID
control for technical service. The landing velocity of 0.78 m/s is quite reliable
and safe.
• Using the developed model and MATLAB/Simulink software package one can
generate velocity, temperatures and all outputs of ascent, descent and flight
continuously.

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184 Ö. Kayhan et al.

References

Cathey HM Jr (2009) The NASA super pressure balloon—a path to flight. Adv Space Res 44:23–
38
Dai Q, Fang X, Li X, Tian L (2012) Performance simulation of high altitude scientific balloons.
Adv Space Res 49:1045–1052
Farley RE (2005) Balloon ascent 3-D simulation tool for the ascent and float of high altitude
balloons. Paper presented at AIAA 5th aviation technology integration and operation
conference, Virginia, 26–28 Sept 2005
Kayhan Ö, Hastaoğlu MA (2014) Modeling of stratospheric balloon using transport phenomena
and gas compress-release system. J Thermophys Heat Tr 28:534–541
Liu Q, Wu Z, Zhu M, Xu WQ (2014) A comprehensive numerical model investigating the
thermal-dynamic performance of scientific balloon. Adv Space Res 53:325–328
Xia XL, Li DF, Sun C, Ruan LM (2010) Transient thermal behavior of stratospheric balloons at
float conditions. Adv Space Res 46:1184–1190

okayhan@gtu.edu.tr