动力翼伞系统空投风场的辨识与应用
收稿日期: 2016-01-07
修回日期: 2016-03-21
网络出版日期: 2016-03-24
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
Received date: 2016-01-07
Revised date: 2016-03-21
Online published: 2016-03-24
Supported by
National Natural Science Foundation of China (61273138); Key Fund of Tianjin (14JCZDJC39300)
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。
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 . DOI: 10.7527/S1000-6893.2016.0091
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.
[1] 韩雅慧, 杨春信, 肖华军, 等. 翼伞精确空投系统关键技术和发展趋势[J]. 兵工自动化, 2012, 34(7):1-7. HAN Y H, YANG C X, XIAO H J, et al. Review on key technology and development of parafoil precise airdrop systems[J].Ordnance Industry Automation, 2012, 34(7):1-7(in Chinese).
[2] 赵秋艳. 翼伞雀降技术[J]. 航天返回与遥感, 1999, 20(2):5-9. ZHAO Q Y. Flare maneuver of ram-air parachute[J]. Spacecraft Recovery & Remote Sensing, 1999, 20(2):5-9(in Chinese).
[3] 张兴会, 朱二琳. 翼伞系统雀降性能及控制研究[J]. 航天控制, 2012, 30(1):29-33. ZHANG X H, ZHU E L. The study of the flare-landing performance and control of parafoil system[J]. Aerospace Control, 2012, 30(1):29-33(in Chinese).
[4] ZHU E L, SUN Q L, TAN P L, et al. Modeling of powered parafoil based on Kirchhoff motion equation[J]. Nonlinear Dynamics, 2015, 79(1):617-629.
[5] 朱旭, 曹义华. 翼伞平面形状对翼伞气动性能的影响[J]. 航空学报, 2011, 32(11):1998-2007. ZHU X, CAO Y H. Numerical simulation of planform geometry effect on parafoil aerodynamic performance[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(11):1998-2007(in Chinese).
[6] 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-anhedal angle, airfoil and leading edge cut on parafoil aerodynamic performance[J]. Acta Aeronautica et Astronautica Sinica, 2012, 33(7):1189-1200(in Chinese).
[7] 陆伟伟, 张红英, 连亮.大型翼伞的三维气动性能分析[J]. 航天返回与遥感, 2015, 36(3):1-10. LU W W, ZHANG H Y, LIAN L. A three-dimensional analysis on aerodynamic performance of a large parafoil[J]. Spacecraft Recovery & Remote Sensing, 2015, 36(3):1-10(in Chinese).
[8] 熊菁, 秦子增, 文红武. 翼伞系统归航的最优控制[J]. 航天控制, 2004, 22(6):32-36. XIONG J, QIN Z Z, WEN H W. Optimal control of parafoil system homing[J]. Aerospace Control, 2004, 22(6):32-36(in Chinese).
[9] 杨秋辉, 吕鸣, 耿丽娜, 等.航空炸弹飞行中的风场辨识[J]. 弹箭与制导学报, 2011, 31(2):149-152. YANG Q H, LV M, GENG L N, et al. The wind field identification in flight of aerial bomb[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2011, 31(2):149-152(in Chinese).
[10] BRANDEN J R, PING L, ALAN L S, et al. In-flight trajextory planning and guidance for autonomous parafoils[J]. Journal of Guidance, Control, and Dynamics, 2009,32(6):1697-1712.
[11] BRANDEN J R, PING L, ALAN L S, et al. In-flight trajectory planning and guidance for autonomous parafoils[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(6):1697-1712.
[12] 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).
[13] 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, 2014:14-45. GAO H T. Research on conrtol and autonomous homing ttajectory planning of parafoil system[D]. Tianjin:Nankai University, 2014:14-45(in Chinese).
[14] 李永泉. 小波和Kalman滤波用于GPS数据去噪方法分析[J]. 交通科技与经济, 2011, 64(2):111-114. LI Y Q. Study of GPS data de-noising method based on Wavelet and Kalman filtering[J]. Technology & Economy in Areas of Communications, 2011, 64(2):111-114(in Chinese).
[15] 赵龙, 吴康. 新型自适应Kalman滤波算法及其应用[J]. 压电与声光, 2009, 31(6):908-911. ZHAO L, WU K. A new type of adaptive Kalman filtering algorithm and its application[J]. Piezoelectrics & Acoustooptics, 2009, 31(6):908-911(in Chinese).
[16] 秦显平, 任夏, 杨元喜. 基于自适应滤波的编队卫星实时相对定轨[J]. 北京航空航天大学学报, 2014, 40(9):1195-1199. QIN X P, REN X, YANG Y X. Real-time relative orbit determination for formation flying satellites using adaptive filtering[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014,40(9):1195-1199(in Chinese).
[17] VENKATARAMAN V, FAN G, HAVLICEK J P, et al. Adaptive Kalman filtering for histogram-based appearancelearning in infrared imagery[J]. IEEE Transactions on Image Processing, 2012, 21(11):4622-4635.
[18] GAO X D, YOU D Y, KATAYAMA S. Seam tracking monitoring based on adaptive Kalman filter embedded elman neural network during high-power fiber laser welding[J]. IEEE Transactions on Industrial Electronics, 2012, 59(11):4315-4325.
[19] 朱二琳, 张兴会. 翼伞空投系统模糊控制器的设计与实现[J]. 电子测量技术, 2011, 34(4):46-49. ZHU E L, ZHANG X H. Design and application of fuzzy controller in parafoil airdrop system[J]. Electronic Measurement Technology, 2011, 34(4):46-49(in Chinese).
[20] SLEGERS N, COSTELLO M. Model predictive control of a parafoil and payload system[J]. Journal of Guidance, Control, and Dynamics, 2005, 28(4):816-820.
/
| 〈 |
|
〉 |
CJA