伞翼无人机精确建模与控制

doi:10.7527/S1000-6893.2018.22593

Abstract

Abstract: The leading edge incision and the trailing edge deflection are essential to the calculation of the aerodynamic parameters of the canopy. To achieve precise control of the parawing Unmanned Aerial Vehicle (UAV), the accuracy of the dynamic model of the parafoil system is improved. Taking the leading edge incision and the trailing edge deflection into account, the lift and drag coefficients are calculated by combining the computational fluid dynamics with the lifting-line theory. The least square method is used to identify the relationships between the lift and drag coefficients and the angle of attack, the size of the incision and the brake deflection, realizing the accurate calculation of the aerodynamic parameters of the canopy. And the results are incorporated into the six degree of freedom dynamic model for a parawing UAV. A simulation of trajectory tracking control based on the revised dynamic model is conducted. By comparing the simulation results with the airdrop testing data, the accuracy of the proposed method is verified, shedding lights on the simulation of the parawing UAV and the design of the controller.

Key words: parawing unmanned aerial vehicle, leading edge incision, trailing edge deflection, dynamic model, computational fluid dynamics

CLC Number:

V211.3
TP273

ZHU Hong, SUN Qinglin, WU Wannan, SUN Mingwei, CHEN Zengqiang. Accurate modeling and control for parawing unmanned aerial vehicle[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(6): 122593-122593.

References

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Accurate modeling and control for parawing unmanned aerial vehicle

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