关键词: 多翼伞系统, 质点模型, 翼伞编队, 三维航迹跟踪控制, 模糊PID控制

Abstract: To address the issues of low control accuracy, weak disturbance rejection capability, and poor cooperative stability in multi-parafoil formation trajectory tracking control, this paper proposes a fuzzy PID-based trajectory tracking control method for multiple parafoils formation. First, a particle model of the parafoils system is established, and the Dryden turbulence wind field model is introduced. Then, a three-dimensional trajectory tracking control strategy for parafoil formation is constructed. The tracking errors obtained from the reference command and measured output are fuzzified using triangular membership functions, and fuzzy inference is performed based on a predefined rule base. Through defuzzification, precise control gain parameters are obtained. The guidance control system is decoupled into two sub-systems: horizontal-plane control and altitude control. The horizontal control takes lateral deviation and heading angle error as inputs and outputs the heading angle command, while the altitude control takes longitudinal deviation and flight path angle error as inputs and outputs the flight path angle command. Finally, the proposed method is validated on the RflySim simulation platform. Simulation results demonstrate that, compared with the traditional PID control method, the fuzzy PID controller can still maintain a smooth trajectory and small deviations under turbulent wind dis-turbances, and it improves formation stability by 21.3%. Therefore, the fuzzy PID adaptive control algorithm can effec-tively suppress the influence of complex external environmental factors on parafoils formation, exhibiting high robust-ness and strong anti-disturbance capability.

Key words: Multiple parafoils system, Particle model, Parafoils formation, Three-dimensional trajectory tracking control, Fuzzy PID control