多自主翼伞系统建模及其集结控制

doi:10.7527/S1000-6893.2016.0047

电子与控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

多自主翼伞系统建模及其集结控制

陈奇^1,2, 赵敏¹, 赵志豪¹, 马敏毓¹, 黄荣发³

1. 南京航空航天大学自动化学院, 南京 210016;
2. 淮阴工学院电子信息工程学院, 淮安 223003;
3. 中航工业宏光空降装备有限公司, 南京 210022

收稿日期:2015-10-20 修回日期:2015-11-20 出版日期:2016-10-15 发布日期:2016-02-24
通讯作者: 赵敏,Tel.:025-84893478 E-mail:xymzhao@126.com E-mail:xymzhao@126.com
作者简介:陈奇男,博士,讲师。主要研究方向:多翼伞建模及协同控制。Tel:025-84893478 E-mail:chenqi2070@126.com;赵敏男,博士,教授,博士生导师。主要研究方向:翼伞空投测控系统。Tel:025-84893478 E-mail:xymzhao@126.com
基金资助:
航空防护救生技术航空科技重点实验室资助的航空科学基金（20152952038）；江苏省普通高校研究生科研创新计划（KYLX15_0271）；中央高校基本科研业务费专项资金；江苏高校优势学科建设工程资助项目；淮安市科技计划（HAG2015028）

Multiple autonomous parafoils system modeling and rendezvous control

CHEN Qi^1,2, ZHAO Min¹, ZHAO Zhihao¹, MA Minyu¹, HUANG Rongfa³

1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. Faculty of Electronic Information Engineering, Huaiyin Institute of Technology, Huai'an 223003, China;
3. AVIC Hongguang Airborne Equipment Co., LTD., Nanjing 210022, China

Received:2015-10-20 Revised:2015-11-20 Online:2016-10-15 Published:2016-02-24
Supported by:
Aeronautical Science Foundation of China funded by Aviation key Laboratory of Science and Technology on Aerospace Life-Support (20152952038); Funding of Jiangsu Innovation Program for Graduate Education (KYLX15_0271); The Fundamental Research Funds for the Central Universities; A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions; Huai'an Science and Technology Project (HAG2015028)

摘要/Abstract

摘要：

当前对翼伞系统的研究主要集中在单个翼伞，但实际空投中一般需要使用多个翼伞，才能完成大量物资、装备的空投补给任务，而多个翼伞同时空投时，将会出现翼伞需要集结、相互间需要避免碰撞等在单翼伞空投时不存在的问题。现有的单翼伞系统已能通过GPS/惯导系统及其他板载传感器实现自主飞行，针对多个自主翼伞的空投任务设计算法，以控制下降翼伞之间的相互运动，实现多翼伞系统的集结和避碰。首先以质点模型为起点，通过引入新的独立变量，并将翼伞运动转换至风固定坐标系，使得单个翼伞质点模型降维为非线性降阶模型，进而得到多自主翼伞模型，在此基础上提出了一种集结控制算法，利用每个翼伞自身的状态信息和相邻翼伞的状态信息，采用势场法使得多翼伞实现集结并避免碰撞，最后一致地降落至地面。仿真结果表明多个自主翼伞实现了集结，减小了翼伞的着陆散布，降低了翼伞之间的碰撞风险，验证了该方法的有效性，可以为进一步研究多自主翼伞协同控制提供理论参考。

关键词: 单翼伞, 质点模型, 降阶模型, 多翼伞, 集结控制, 避碰

Abstract:

At present a lot of studies about parafoil system mainly focus on single parafoil, but it usually needs multiple parafoils to drop a large amount of supplies and equipment in actual drop tasks. When multiple parafoils are dropped at the same time, there will be some new problems, such as all parafoils need to rendezvous and every parafoil should avoid collision among each other. The existing single parafoil can realize autonomous flight by GPS/inertial navigation system and other on-board sensors, so in this paper we need to design control algorithm to control the relative motion of the descending parafoils, and to realize the rendezvous and collision avoidance of multiple autonomous parafoils. Firstly, this paper takes the particle model as a starting point, transforms the particle model to a reduced dimension non-linear model by introducing new independent variables, converts the parafoil's movement to the airflow fixed coordinate frame, and then derives the multiple autonomous parafoils model. Moreover, the paper proposes a rendezvous control algorithm based on potential field method, uses each parafoil's own status information and adjacent parafoil's status information, and makes multiple autonomous parafoils rendezvous, avoid collisions and land to the ground consistently. The simulation results verify the validity of the proposed method, and that multiple autonomous parafoils implement rendezvous, reduce the parafoils' landing spread, and decrease the collision risk among each other. The results in this paper provide a theoretical reference for multiple autonomous parafoils coordinated control in further research.

Key words: single parafoil, particle model, reduced dimension model, multiple autonomous parafoils, rendezvous control, collision avoidance

中图分类号:

V249.12

陈奇, 赵敏, 赵志豪, 马敏毓, 黄荣发. 多自主翼伞系统建模及其集结控制[J]. 航空学报, 2016, 37(10): 3121-3130.

CHEN Qi, ZHAO Min, ZHAO Zhihao, MA Minyu, HUANG Rongfa. Multiple autonomous parafoils system modeling and rendezvous control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(10): 3121-3130.

参考文献

[1] 凯文·凯利. 失控——全人类的最终命运和结局[M]. 北京:新星出版社, 2010:32-36. KEVIN K. Out of control:The new biology of machines, social systems and the economic world[M]. Beijing:New Star Press, 2010:32-36(in Chinese).
[2] 高海涛. 翼伞系统自主归航航迹规划与控制研究[D]. 天津:南开大学, 2014:97-104. GAO H T. Research on control and autonomous homing trajectory planning of parafoil system[D].Tianjin:Nankai University, 2014:97-104(in Chinese).
[3] SEONG-JIN L, CONNER J P, Jr, ARENA A S, Jr. An autonomous recovery system for high altitude payloads by using a parafoil[C]//AIAA Atmospheric Flight Mechanics Conference. Reston:AIAA, 2014:2555-2563.
[4] STRAHAN A L. Testing of parafoil autonomous GN&C for X-38[C]//17th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Reston:AIAA, 2003:2115-2129.
[5] WEGEREEF J W, BENOLOL S, UHL E, et al. A high-glide ram-air parachute for 6000 kg payloads, tested with the FASTWing CL test-vehicle[C]//20th AIAA Aerodynamic Decelerator Systems Technology Conference. Reston:AIAA, 2009:2933-2941.
[6] BENNEY R, HENRY M, LAFOND K, et al. DoD new JPADS programs & NATO activities[C]//20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Reston:AIAA, 2009:2952-2969.
[7] KAMINER I I, YAKIMENKO O, PASCOAL A M. Coordinated payload delivery using high glide parafoil systems[C]//18th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Reston:AIAA, 2005:1622-1629.
[8] CALISE A J, PRESTON D. Swarming/flocking and collision avoidance for mass airdrop of autonomous guided parafoils[J]. Journal of Guidance Control and Dynamics, 2008, 31(4):1123-1132.
[9] GURFIL P, FELDMAN S, FELDMAN M. Coordination and communication of cooperative parafoils for humanitarian aid[J]. IEEE Transactions on Aerospace and Electronic Systems, 2010, 46(4):1747-1761.
[10] ROSICH A, GURFIL P. Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils[J]. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering, 2012, 226(G6):691-720.
[11] 熊菁, 秦子增, 程文科. 翼伞系统弹性连接模型的相对运动分析[J]. 弹道学报, 2006, 18(1):25-29. XIONG J, QIN Z Z, CHENG W K. Analysis of relative motion of parafoil system in flexibly jointed model[J]. Journal of Ballistics, 2006, 18(1):25-29(in Chinese).
[12] 朱旭, 曹义华. 翼伞弧面下反角、翼型和前缘切口对翼伞气动性能的影响[J]. 航空学报, 2012, 33(7):1189-1200. ZHU X. CAO Y H. Effects of arc-anhedral angle, airfoil and leading edge cut on parafoil aerodynamic performance. Acta Aeronautica et Astronautica Sinica, 2012, 33(7):1189-1200(in Chinese).
[13] 李春, 吕智慧, 黄伟, 等. 精确定点归航翼伞控制系统的研究[J]. 中南大学学报(自然科学版), 2012, 43(4):1331-1335. LI C, LYU Z H, HUANG W, et al. Guidance navigation & control system for precision fix-point homing parafoil[J]. Journal of Central South University (Science and Technology), 2012, 43(4):1331-1335(in Chinese).
[14] 高海涛, 张利民, 孙青林, 等. 基于伪谱法的翼伞系统归航轨迹容错设计[J]. 控制理论与应用, 2013, 30(6):702-708. GAO H T, ZHANG L M, SUN Q L, et al. Fault-tolerance design of homing trajectory for parafoil system based on pseudo-spectral method[J]. Control Theory & Applications, 2013, 30(6):702-708(in Chinese).
[15] 梁海燕, 任志刚, 许超, 等. 翼伞系统最优归航轨迹设计的敏感度分析方法[J]. 控制理论与应用, 2015, 32(8):1003-1011. LIANG H Y, REN Z G, XU C, et al. Optimal homing trajectory design for parafoil systems using sensitivity analysis approach[J]. Control Theory & Applications, 2015, 32(8):1003-1011(in Chinese).
[16] 陈建平, 张红英, 童明波. 翼伞系统纵向飞行性能分析[J]. 中国空间科学技术, 2015(2):25-32. CHEN J P, ZHANU H Y, TONG M B, et al. Lon-gitudinal flight performance analysis of parafoil-payload systems[J]. Chinese Space Science and Technology, 2015(2):25-32(in Chinese).
[17] RADEMACHER B J, LU P, STRAHAN A L, et al. In-flight trajectory planning and guidance for autonomous parafoils[J]. Journal of Guidance Control and Dynamics, 2009, 32(6):1697-1712.
[18] 许耀赆, 田玉平. 线性及非线性一致性问题综述[J]. 控制理论与应用, 2014, 31(7):837-849. XU Y J, TIAN Y P. A survey of linear and non-linear consensus problems in multi-agent systems[J]. Control Theory & Applications, 2014, 31(7):837-849(in Chinese).
[19] LISTMANN K D, MASALAWALA M V, ADAMY J. Consensus for formation control of nonholonomic mobile robots[C]//2009 IEEE International Conference on Robotics and Automation. Pisataway, NJ:IEEE Press, 2009:3886-3891.
[20] DIMAROGONAS D V, KYRIAKOPOULOS K J. On the rendezvous problem for multiple nonholonomic agents[J]. IEEE Transactions on Automatic Control, 2007, 52(5):916-922.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

多自主翼伞系统建模及其集结控制

Multiple autonomous parafoils system modeling and rendezvous control

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	师妍, 万志强, 吴志刚, 杨超. 基于气动力降阶的弹性飞机阵风响应仿真分析及验证[J]. 航空学报, 2022, 43(1): 125474-125474.
[2]	陈志强, 刘战合, 苗楠, 冯伟. 基于增量学习的非定常气动力参数化降阶模型[J]. 航空学报, 2021, 42(7): 125103-125103.
[3]	任峰, 高传强, 唐辉. 机器学习在流动控制领域的应用及发展趋势[J]. 航空学报, 2021, 42(4): 524686-524686.
[4]	董雷霆, 周轩, 赵福斌, 贺双新, 卢志远, 冯建民. 飞机结构数字孪生关键建模仿真技术[J]. 航空学报, 2021, 42(3): 23981-023981.
[5]	张伟伟, 高弈奇, 全金楼, 苏丹. 失谐叶栅的受迫振动响应特性分析[J]. 航空学报, 2017, 38(9): 521018-521018.
[6]	王梓伊, 张伟伟. 适用于参数可调结构的非定常气动力降阶建模方法[J]. 航空学报, 2017, 38(6): 220829-220829.
[7]	张智, 林圣琳, 朱齐丹, 王开宇. 考虑运动学约束的不规则目标遗传避碰规划算法[J]. 航空学报, 2015, 36(4): 1348-1358.
[8]	聂雪媛, 杨国伟. 基于CFD降阶模型的阵风减缓主动控制研究[J]. 航空学报, 2015, 36(4): 1103-1111.
[9]	陈鑫, 刘莉, 岳振江. 基于本征正交分解和代理模型的高超声速气动热模型降阶研究[J]. 航空学报, 2015, 36(2): 462-472.
[10]	屈崑, 李记超, 蔡晋生. CFD数学模型的线性化方法及其应用[J]. 航空学报, 2015, 36(10): 3218-3227.
[11]	苏丹, 张伟伟, 全金楼, 马明生, 叶正寅. 基于CFD技术的高效叶栅耦合颤振分析方法[J]. 航空学报, 2014, 35(12): 3232-3243.
[12]	王云海, 韩景龙, 张兵, 员海玮. 空气动力二阶核函数辨识方法[J]. 航空学报, 2014, 35(11): 2949-2957.
[13]	苏丹, 张伟伟, 张陈安, 叶正寅. 基于系统辨识技术的叶轮机非定常气动力建模方法[J]. 航空学报, 2012, 33(2): 242-248.
[14]	刘晓燕;杨超;吴志刚. 适用于气动弹性的小波非定常气动力降阶方法[J]. 航空学报, 2010, 31(6): 1149-1155.
[15]	陈刚;李跃明;闫桂荣;徐敏. 基于降阶模型的气动弹性主动控制律设计[J]. 航空学报, 2010, 31(1): 12-18.