摘要
In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigid body,a six degrees-of-freedom(DOF)dynamic model of a parafoil system including three DOF for translational motion and three DOF for rotational motion,is established according to the K rchhoff motion equation.Since the flexible winged paafoil system flying at low altitude is more susceptibleto winds,the motion characteristics of the parafoil system Wth and Wthout winds are simulated and analyzed.Furthermore,the ardropm test is used to further verify the model.The comparison results show that the simulation trajectory roughly overlaps with the actual flight track.The horzontnl velocity of the simulation model is in good accordance with the airdrop test,with a deviation less than0.5m/s,while its simulated vertical velocity fuctuates slightly under the infuence of the wind,and shows a similar trend to the ardrop test.It is concludedthat the established model can well describe the characteristics of the parafoil system.
为更好地研究翼伞系统的动力学特性和控制策略,将襟翼偏转作为翼伞控制机制,伞体和回收物视为刚性连接,根据克西霍夫运动方程建立了翼伞系统六自由度模型,包括随质心的三自由度平动和绕质心的三自由度转动.由于翼伞系统由柔性结构的冲压型翼伞提供升力,且飞行高度较低,容易受到环境中风场的影响,因此对有风和无风环境下翼伞系统的基本运动特性进行了仿真分析,并利用空投实验对所建立模型进一步验证.仿真和空投实验对比结果表明,翼伞系统仿真轨迹和空投实际轨迹基本上能够吻合,其水平仿真速度与空投实验误差小于0.5 m/s,垂直仿真速度在风场作用下呈现小幅波动,与空投实验结果一致,说明该模型能够有效地描述翼伞系统的运动性能.
作者
Tao Jin
Sun Qinglin
Chen Zengqiang
He Yingping
陶金;孙青林;陈增强;贺应平(南开大学天津市智能机器人技术重点实验室,天津300350;南开大学计算机与控制工程学院,天津300350;Department of Electrical Engineering and Automation,Aalto University,Espoo 02150,Finland;中航工业集团航宇救生装备有限公司,襄阳441003)
基金
The National Natural Science Foundation of China(No.61273138,61573197)
the National Key Technology R&D Program(No.2015BAK06B04)
the Key Fund of Tianjin(No.14JCZDJC39300)
the Key Technologies R&D Program of Tianjin(No.14ZCZDSF00022)
