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.

References

[1] 凯文·凯利. 失控——全人类的最终命运和结局[M]. 北京:新星出版社, 2010:32-36. KEVIN K. Out of control:The new biology of machines, social systems and the economic world[M]. Beijing:New Star Press, 2010:32-36(in Chinese).
[2] 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, 2014:97-104. GAO H T. Research on control and autonomous homing trajectory planning of parafoil system[D].Tianjin:Nankai University, 2014:97-104(in Chinese).
[3] SEONG-JIN L, CONNER J P, Jr, ARENA A S, Jr. An autonomous recovery system for high altitude payloads by using a parafoil[C]//AIAA Atmospheric Flight Mechanics Conference. Reston:AIAA, 2014:2555-2563.
[4] STRAHAN A L. Testing of parafoil autonomous GN&C for X-38[C]//17th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Reston:AIAA, 2003:2115-2129.
[5] WEGEREEF J W, BENOLOL S, UHL E, et al. A high-glide ram-air parachute for 6000 kg payloads, tested with the FASTWing CL test-vehicle[C]//20th AIAA Aerodynamic Decelerator Systems Technology Conference. Reston:AIAA, 2009:2933-2941.
[6] BENNEY R, HENRY M, LAFOND K, et al. DoD new JPADS programs & NATO activities[C]//20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Reston:AIAA, 2009:2952-2969.
[7] KAMINER I I, YAKIMENKO O, PASCOAL A M. Coordinated payload delivery using high glide parafoil systems[C]//18th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Reston:AIAA, 2005:1622-1629.
[8] CALISE A J, PRESTON D. Swarming/flocking and collision avoidance for mass airdrop of autonomous guided parafoils[J]. Journal of Guidance Control and Dynamics, 2008, 31(4):1123-1132.
[9] GURFIL P, FELDMAN S, FELDMAN M. Coordination and communication of cooperative parafoils for humanitarian aid[J]. IEEE Transactions on Aerospace and Electronic Systems, 2010, 46(4):1747-1761.
[10] ROSICH A, GURFIL P. Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils[J]. Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering, 2012, 226(G6):691-720.
[11] 熊菁, 秦子增, 程文科. 翼伞系统弹性连接模型的相对运动分析[J]. 弹道学报, 2006, 18(1):25-29. XIONG J, QIN Z Z, CHENG W K. Analysis of relative motion of parafoil system in flexibly jointed model[J]. Journal of Ballistics, 2006, 18(1):25-29(in Chinese).
[12] 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-anhedral angle, airfoil and leading edge cut on parafoil aerodynamic performance. Acta Aeronautica et Astronautica Sinica, 2012, 33(7):1189-1200(in Chinese).
[13] 李春, 吕智慧, 黄伟, 等. 精确定点归航翼伞控制系统的研究[J]. 中南大学学报(自然科学版), 2012, 43(4):1331-1335. LI C, LYU Z H, HUANG W, et al. Guidance navigation & control system for precision fix-point homing parafoil[J]. Journal of Central South University (Science and Technology), 2012, 43(4):1331-1335(in Chinese).
[14] 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).
[15] 梁海燕, 任志刚, 许超, 等. 翼伞系统最优归航轨迹设计的敏感度分析方法[J]. 控制理论与应用, 2015, 32(8):1003-1011. LIANG H Y, REN Z G, XU C, et al. Optimal homing trajectory design for parafoil systems using sensitivity analysis approach[J]. Control Theory & Applications, 2015, 32(8):1003-1011(in Chinese).
[16] 陈建平, 张红英, 童明波. 翼伞系统纵向飞行性能分析[J]. 中国空间科学技术, 2015(2):25-32. CHEN J P, ZHANU H Y, TONG M B, et al. Lon-gitudinal flight performance analysis of parafoil-payload systems[J]. Chinese Space Science and Technology, 2015(2):25-32(in Chinese).
[17] RADEMACHER B J, LU P, STRAHAN A L, et al. In-flight trajectory planning and guidance for autonomous parafoils[J]. Journal of Guidance Control and Dynamics, 2009, 32(6):1697-1712.
[18] 许耀赆, 田玉平. 线性及非线性一致性问题综述[J]. 控制理论与应用, 2014, 31(7):837-849. XU Y J, TIAN Y P. A survey of linear and non-linear consensus problems in multi-agent systems[J]. Control Theory & Applications, 2014, 31(7):837-849(in Chinese).
[19] LISTMANN K D, MASALAWALA M V, ADAMY J. Consensus for formation control of nonholonomic mobile robots[C]//2009 IEEE International Conference on Robotics and Automation. Pisataway, NJ:IEEE Press, 2009:3886-3891.
[20] DIMAROGONAS D V, KYRIAKOPOULOS K J. On the rendezvous problem for multiple nonholonomic agents[J]. IEEE Transactions on Automatic Control, 2007, 52(5):916-922.

Multiple autonomous parafoils system modeling and rendezvous control

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 14

Recommended Articles

Metrics

Comments

[1]	Yunpeng CAI, Dapeng ZHOU, Jiangchuan DING. Intelligent collaborative control of UAV swarms with collision avoidance safety constraints [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(5): 529683-529683.
[2]	Xin HE, Zongying SHI, Yisheng ZHONG. Multi⁃USV cooperative collision avoidance based on velocity obstacle [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729758-729758.
[3]	LI Anti, LI Chenglong, WU Dingjie, WEI Peng. Collision avoidance decision method for UAVs in random search combined with jump point guidance [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(8): 323726-323726.
[4]	XIAO Guijian, HE Yi, HUANG Yun, LI Wei, LI Quan. Single particle removal model and experimental study on micro bionic zigzag surface of aeronautical blade using belt grinding [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(7): 623288-623288.
[5]	MA Guangfu, DONG Hongyang, HU Qinglei. Fault-tolerant translational control for spacecraft formation flying with collision avoidance requirement [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(10): 321129-321129.
[6]	WANG Zhu, LIU Li, LONG Teng, WEN Yonglu. Trajectory planning for multi-UAVs using penalty sequential convex pro-gramming [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(10): 3149-3158.
[7]	ZHANG Siyu, YU Jianqiao, LI Pinlei. Multiple ballistic flight vehicles' launch time planning for collision avoidance based on time constraint set [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(7): 2391-2399.
[8]	ZHANG Zhi, LIN Shenglin, ZHU Qidan, WANG Kaiyu. Genetic collision avoidance planning algorithm for irregular shaped object with kinematics constraint [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(4): 1348-1358.
[9]	ZHENG Zhong, SONG Shenmin. Adaptive Coordination Control of Satellites Within Formation Considering Collision Avoidance [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(8): 1934-1943.
[10]	YIN Jianfeng;HE Quan;HAN Chao. Collision Analysis of Spacecraft Relative Motion Based on Relative Orbit Elements [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(2): 311-320.
[11]	HUANG Haibin, MA Guangfu, ZHUANG Yufei, LU Yueyong. Satellite Formation Reconfiguration Using Co-evolutionary Particle Swarm Optimization and Pareto Optimal Solution [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(11): 2073-2082.
[12]	Huang Haibin;Ma Guangfu;Zhuang Yufei. Optimal Trajectory Planning for Reconfiguration of Satellite Formation with Collision Avoidance [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2010, 31(9): 1818-1823.
[13]	Zhao Yan;Xu Fei;Li Yulong. A Method of Preventing SPH Numerical Fracture for Irregular Particle Models [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2009, 30(11): 2100-2105.
[14]	Liang Zheng-yang;Yan Chuan-jun;Wang Hong-ji. ESTABLISHMENT OF A PARTICLE MODEL IN THE THEORETICAL ANALYSIS OF LASER HOLOGRAPHIC MEASUREMENT [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 1992, 13(7): 436-439.