动力翼伞系统空投风场的辨识与应用

doi:10.7527/S1000-6893.2016.0091

电子与控制

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动力翼伞系统空投风场的辨识与应用

檀盼龙¹, 孙青林¹, 高海涛², 陈增强¹

1. 南开大学计算机与控制工程学院, 天津 300350;
2. 安徽科技学院电子系, 凤阳 233100

收稿日期:2016-01-07 修回日期:2016-03-21 出版日期:2016-07-15 发布日期:2016-03-24
通讯作者: 孙青林男,博士,教授,博士生导师。主要研究方向:柔性飞行器建模与控制。Tel:022-23508547,E-mail:sunql@nankai.edu.cn E-mail:sunql@nankai.edu.cn
作者简介:檀盼龙男,博士研究生,主要研究方向:动力翼伞的建模与控制,E-mail:296055178@qq.com;高海涛男,博士,讲师。主要研究方向:柔性飞行器建模与控制,E-mail:gc_0532@126.com;陈增强男,博士,教授,博士生导师。主要研究方向:非线性系统建模与控制、预测控制和工业过程控制,E-mail:chenzq@nankai.edu.cn
基金资助:
国家自然科学基金（61273138)；天津市重点基金（14JCZDJC39300)

Wind identification and application of powered parafoil system

TAN Panlong¹, SUN Qinglin¹, GAO Haitao², CHEN Zengqiang¹

1. College of Computer and Control Engineering, Nankai University, Tianjin 300350, China;
2. Department of Electronics, Anhui Science and Technology University, Fengyang 233100, China

Received:2016-01-07 Revised:2016-03-21 Online:2016-07-15 Published:2016-03-24
Supported by:
National Natural Science Foundation of China (61273138); Key Fund of Tianjin (14JCZDJC39300)

摘要/Abstract

摘要：

风场对动力翼伞系统的运动状态有着重要的影响，获得风场中风的速度和方向可以使动力翼伞系统利用或者消除风场的影响。针对风场辨识问题，通过分析动力翼伞系统在风场作用下的飞行特性，提出了一种基于动力翼伞系统在风中的飞行状态进行风场辨识的方法。该方法仅使用动力翼伞系统配备的全球定位系统（GPS）模块采集定位数据，计算获得动力翼伞系统飞行的速度和方向，根据风场与动力翼伞系统的动态关系，利用最小二乘法对风场进行在线辨识。为了保证辨识精度，由GPS获得的动力翼伞系统运动信息经卡尔曼滤波器进行滤波处理。仿真结果表明：该方法对风场有较高的辨识效果，并能辅助实现雀降。

关键词: 动力翼伞系统, 风场辨识, 轨迹规划, 卡尔曼滤波, 雀降着陆

Abstract:

Wind factor has an important influence on dynamics of the powered parafoil system. The identification of wind speed and direction is the key point for the powered parafoil system to take advantage of wind or to eliminate wind impact. By analyzing the dynamic characteristics of the powered parafoil in wind field, a wind identification method based on the powered parafoil dynamics is proposed and applied to solve this problem. The proposed method utilizesthe positioning data from global positioning system (GPS) to compute the velocity and direction of the powered parafoil system, which is only necessary for wind identification. Wind speed and direction are identified in real-time according to the dynamic relationship between the wind field and the powered parafoil system by using the least square method. To improve identification accuracy, the collection of motiondata obtained by GPS is applied to identify current wind speed and direction after being processed by Kalman filter. Simulation results show that the proposed method is sufficient to handle wind identification problem with high accuracy. And the identification result supports flare-landing.

Key words: powered parafoil system, wind identification, trajectory planning, Kalman filter, flare-landing

中图分类号:

V249.1
TP29

檀盼龙, 孙青林, 高海涛, 陈增强. 动力翼伞系统空投风场的辨识与应用[J]. 航空学报, 2016, 37(7): 2286-2294.

TAN Panlong, SUN Qinglin, GAO Haitao, CHEN Zengqiang. Wind identification and application of powered parafoil system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(7): 2286-2294.

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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

动力翼伞系统空投风场的辨识与应用

Wind identification and application of powered parafoil system

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