A novel framework is established for accurate modeling of Powered Parafoil Unmanned Aerial Vehicle(PPUAV). The model is developed in the following three steps: obtaining a linear dynamic model, simplifying the model s...A novel framework is established for accurate modeling of Powered Parafoil Unmanned Aerial Vehicle(PPUAV). The model is developed in the following three steps: obtaining a linear dynamic model, simplifying the model structure, and estimating the model mismatch due to model variance and external disturbance factors. First, a six degree-of-freedom linear model, or the structured model, is obtained through dynamic establishment and linearization. Second, the data correlation analysis is adopted to determine the criterion for proper model complexity and to simplify the structured model. Next, an active model is established, combining the simplified model with the model mismatch estimator. An adapted Kalman filter is utilized for the real-time estimation of states and model mismatch. We finally derive a linear system model while taking into account of model variance and external disturbance. Actual flight tests verify the effectiveness of our active model in different flight scenarios.展开更多
With the consideration of rotation between canopy and payload of parafoil system, a four-degree-of-freedom（4-DOF） longitudinal static model was used to solve parafoil state variables in straight steady flight. The a...With the consideration of rotation between canopy and payload of parafoil system, a four-degree-of-freedom（4-DOF） longitudinal static model was used to solve parafoil state variables in straight steady flight. The aerodynamic solution of parafoil system was a combination of vortex lattice method（VLM） and engineering estimation method. Based on small disturbance assumption,a 6-DOF linear model that considers canopy additional mass was established with benchmark state calculated by 4-DOF static model. Modal analysis of a dynamic model was used to calculate the stability parameters. This method, which is based on a small disturbance linear model and modal analysis, is high-efficiency to the study of parafoil stability. It is well suited for rapid stability analysis in the preliminary stage of parafoil design. Using this method, this paper shows that longitudinal and lateral stability will both decrease when a steady climbing angle increases. This explains the wavy track of the parafoil observed during climbing.展开更多
基金co-supported by the National Nature Sciences Foundation of China (Nos. 61503369 and 61528303)the State Key Laboratory of Roboticsthe Chinese National Key Technology R&D Program (No. Y4A12081010)
文摘A novel framework is established for accurate modeling of Powered Parafoil Unmanned Aerial Vehicle(PPUAV). The model is developed in the following three steps: obtaining a linear dynamic model, simplifying the model structure, and estimating the model mismatch due to model variance and external disturbance factors. First, a six degree-of-freedom linear model, or the structured model, is obtained through dynamic establishment and linearization. Second, the data correlation analysis is adopted to determine the criterion for proper model complexity and to simplify the structured model. Next, an active model is established, combining the simplified model with the model mismatch estimator. An adapted Kalman filter is utilized for the real-time estimation of states and model mismatch. We finally derive a linear system model while taking into account of model variance and external disturbance. Actual flight tests verify the effectiveness of our active model in different flight scenarios.
文摘With the consideration of rotation between canopy and payload of parafoil system, a four-degree-of-freedom（4-DOF） longitudinal static model was used to solve parafoil state variables in straight steady flight. The aerodynamic solution of parafoil system was a combination of vortex lattice method（VLM） and engineering estimation method. Based on small disturbance assumption,a 6-DOF linear model that considers canopy additional mass was established with benchmark state calculated by 4-DOF static model. Modal analysis of a dynamic model was used to calculate the stability parameters. This method, which is based on a small disturbance linear model and modal analysis, is high-efficiency to the study of parafoil stability. It is well suited for rapid stability analysis in the preliminary stage of parafoil design. Using this method, this paper shows that longitudinal and lateral stability will both decrease when a steady climbing angle increases. This explains the wavy track of the parafoil observed during climbing.
