基于模糊PID的多翼伞编队航迹跟踪控制(2026增刊1,20250051)

  • 陈奇 ,
  • 张畅 ,
  • 张红锦 ,
  • 胡季雨 ,
  • 赵利可
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  • 1. 淮阴工学院
    2. 江苏科维达智能化设备有限公司

收稿日期: 2025-10-11

  修回日期: 2025-12-17

  网络出版日期: 2025-12-23

Trajectory tracking control of multiple parafoils formation based on fuzzy PID(2026增刊1,20250051)

  • CHEN Qi ,
  • ZHANG Chang ,
  • ZHANG Hong-Jin ,
  • HU Ji-Yu ,
  • ZHAO Li-Ke
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Received date: 2025-10-11

  Revised date: 2025-12-17

  Online published: 2025-12-23

摘要

针对多翼伞编队航迹跟踪控制中控制精度不高、抗干扰能力及协同稳定性差的问题,本文提出了一种基于模糊PID的多翼伞编队航迹跟踪控制方法。首先,建立多翼伞系统的质点模型,引入Dryden湍流风场模型;然后,构建翼伞编队的三维航迹跟踪控制策略,编队系统以参考指令与测量输出构成误差值作为输入,采用三角形隶属度函数进行模糊化处理,结合预设的模糊规则库进行推理运算,通过解模糊化获得精确的控制增益参数,将制导控制系统解耦为水平面控制和高度控制两个子系统,水平面控制以横向偏差和航向角误差为输入,输出航向角控制量,高度控制以纵向偏差和航迹角误差为输入,输出航迹角控制量;最后,将设计的控制算法在RflySim仿真平台中进行仿真验证。仿真实验表明,与传统PID控制方法相比,模糊PID控制器在湍流风扰动下仍能保持航迹平滑、偏差较小,在编队稳定性方面提升了21.3%,因此,模糊PID自适应控制算法能够有效抑制外界复杂环境因素对翼伞编队的影响,具有较高的鲁棒性和抗干扰能力。

本文引用格式

陈奇 , 张畅 , 张红锦 , 胡季雨 , 赵利可 . 基于模糊PID的多翼伞编队航迹跟踪控制(2026增刊1,20250051)[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2025.32897

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.

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