翼伞系统在未知风场中的归航控制

doi:10.7527/S1000-6893.2016.0258

电子电气工程与控制

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翼伞系统在未知风场中的归航控制

陶金¹, 孙青林¹, 檀盼龙², 邬婉楠¹, 陈增强¹, 贺应平³

1. 南开大学计算机与控制工程学院, 天津 300350;
2. 中德应用技术大学电气与能源学院, 天津 300191;
3. 中国航空工业集团公司宏伟航空器有限责任公司, 襄阳 441000

收稿日期:2016-06-11 修回日期:2016-09-20 出版日期:2017-05-15 发布日期:2016-09-26
通讯作者: 孙青林 E-mail:sunql@nankai.edu.cn
基金资助:
国家自然科学基金（61273138，61573197）；天津市重点基金（14JCZDJC39300）；国家科技支撑计划（2015BAK06B04）；天津市科技支撑计划重点项目（14ZCZDSF00022）

Homing control of parafoil systems in unknown wind environments

TAO Jin¹, SUN Qinglin¹, TAN Panlong², WU Wannan¹, CHEN Zengqiang¹, HE Yingping³

1. College of Computer and Control Engineering, Nankai University, Tianjin 300350, China;
2. Electrical Engineering and Energy College, Sino-German University of Applied Sciences, Tianjin 300191, China;
3. Hongwei Aircraft Co., Ltd., Aviation Industry Corporation of China, Xiangyang 441000, China

Received:2016-06-11 Revised:2016-09-20 Online:2017-05-15 Published:2016-09-26
Supported by:
National Natural Science Foundation of China (61273138,61573197);Key Fund of Tianjin (14JCZDJC39300);National Key Technology Research and Development Program of China (2015BAK06B04);Key Technologies R&D Program of Tianjin (14ZCZDSF00022)

摘要/Abstract

摘要：

翼伞系统在未知风场中执行归航任务时，需获得风场的大小和方向信息，以便在归航过程中利用或者消除风场的影响。为实现翼伞系统在未知风场中精确归航与逆风雀降着陆，首先提出一种利用全球定位系统（GPS）定位数据和最小二乘法在线辨识风向和风速的方法，然后将风场中平均风的影响在轨迹规划中予以考虑，设计分段归航路径；将突风作为外界干扰，在轨迹跟踪过程中由线性自抗扰控制（LADRC）器进行观测和补偿。最后通过仿真实验验证了本文所提出的归航控制方法对于提高翼伞系统在未知风场中的归航精度和抗风能力有重要意义。

关键词: 翼伞系统, 未知风场, 风向辨识, 归航轨迹, 轨迹跟踪, 线性自抗扰控制(LADRC)

Abstract:

It is important for parafoil systems in performing homing tasks in unknown wind environments to identify the speed and direction of the wind, so as to take advantage or eliminate impacts of the wind in the homing process. To realize accurate homing and flare landing, a wind identification method using global position system (GPS) information and least square method is proposed to the estimate unknown wind disturbances. A multiphase homing trajectory is planned with consideration of the influences of the mean winds. A homing trajectory tracking controller is designed based on linear active disturbance rejection control (LADRC) strategy to observe and compensate the disturbances of gusts. Simulation experiments of homing in unknown windy conditions are conducted. The results demonstrate that the proposed homing control method is of great importance for improving homing accuracy and wind resistance ability of homing of parafoil systems in unknown wind environments.

Key words: parafoil system, unknown wind environment, wind identification, homing trajectory, trajectory tracking, linear active disturbance rejection control (LADRC)

中图分类号:

V249.1
TP29

陶金, 孙青林, 檀盼龙, 邬婉楠, 陈增强, 贺应平. 翼伞系统在未知风场中的归航控制[J]. 航空学报, 2017, 38(5): 320523-320523.

TAO Jin, SUN Qinglin, TAN Panlong, WU Wannan, CHEN Zengqiang, HE Yingping. Homing control of parafoil systems in unknown wind environments[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(5): 320523-320523.

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E-mail：hkxb@buaa.edu.cn

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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

翼伞系统在未知风场中的归航控制

Homing control of parafoil systems in unknown wind environments

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