多自主翼伞系统建模及其集结控制

doi:10.7527/S1000-6893.2016.0047

Abstract

Abstract:

At present a lot of studies about parafoil system mainly focus on single parafoil, but it usually needs multiple parafoils to drop a large amount of supplies and equipment in actual drop tasks. When multiple parafoils are dropped at the same time, there will be some new problems, such as all parafoils need to rendezvous and every parafoil should avoid collision among each other. The existing single parafoil can realize autonomous flight by GPS/inertial navigation system and other on-board sensors, so in this paper we need to design control algorithm to control the relative motion of the descending parafoils, and to realize the rendezvous and collision avoidance of multiple autonomous parafoils. Firstly, this paper takes the particle model as a starting point, transforms the particle model to a reduced dimension non-linear model by introducing new independent variables, converts the parafoil's movement to the airflow fixed coordinate frame, and then derives the multiple autonomous parafoils model. Moreover, the paper proposes a rendezvous control algorithm based on potential field method, uses each parafoil's own status information and adjacent parafoil's status information, and makes multiple autonomous parafoils rendezvous, avoid collisions and land to the ground consistently. The simulation results verify the validity of the proposed method, and that multiple autonomous parafoils implement rendezvous, reduce the parafoils' landing spread, and decrease the collision risk among each other. The results in this paper provide a theoretical reference for multiple autonomous parafoils coordinated control in further research.

Key words: single parafoil, particle model, reduced dimension model, multiple autonomous parafoils, rendezvous control, collision avoidance

CLC Number:

V249.12

CHEN Qi, ZHAO Min, ZHAO Zhihao, MA Minyu, HUANG Rongfa. Multiple autonomous parafoils system modeling and rendezvous control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(10): 3121-3130.

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Multiple autonomous parafoils system modeling and rendezvous control

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