Parawing four-freedom-degree semi-physical simulation platform

A semi-physical simulation and simulation platform technology, which is applied in the field of semi-physical simulation platform with four degrees of freedom of parafoil, can solve the problem that the real-time motion of parafoil cannot be completely simulated, and achieve the effect of simple structure and strong expansibility.

Active Publication Date: 2017-09-01
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The existing hardware-in-the-loop simulation system only uses a heavy hammer to simulate the force of the parafoil control rope, and the system platform is fixed. The position and heading of

Method used

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  • Parawing four-freedom-degree semi-physical simulation platform

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Embodiment Construction

[0027] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0028] A parafoil four-degree-of-freedom semi-physical simulation platform includes a data acquisition system, a motion control system, an parachute control system, and a model state solution system.

[0029] Such as figure 1 As shown, the platform has a shell 1, three omnidirectional wheels 3 are installed on the outer wall of the lower end of the shell, and the angle between two adjacent omnidirectional wheels is 120°; three servo motors 4, motor Driver 5, lithium battery and inverter 7 are used to drive three omnidirectional wheels. The interior of the casing is located near the center of mass of the system and is equipped with an inertial navigation and GPS sensor 2, and a receiving device for the GPS sensor is installed on the casing; an industrial computer 6 is also installed inside the casing, which communicates with the inertial na...

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Abstract

The invention provides a parawing four-freedom-degree semi-physical simulation platform which comprises a casing body, a data acquisition system, a motion control system, an umbrella-mounted control system and a model state solving system. The data acquisition system acquires the position information of the simulation platform. The umbrella-mounted control system receives the position information, and acquires the corresponding control amount according to a homing control algorithm. The model state solving system receives the control amount, receives an interference instruction from an interference device, decodes a status instruction and feeds back the status instruction to the umbrella-mounted control system to control the motion control system. The platform moves based on different control instructions, and can simulate action caused by a wing umbrella system for different trailing edge parachute cord manipulated variables in actual air-drop. The data acquisition system and the umbrella-mounted control system form closed-loop control. The control effect is visually reflected in the motion law of the platform, and the position and attitude can be measured accurately. The effectiveness of the control algorithm can be verified before air-drop, which greatly reduces the experimental cost and the experimental risk.

Description

technical field [0001] The invention relates to parafoil simulation control, in particular to a parafoil four-degree-of-freedom semi-physical simulation platform. Background technique [0002] The parafoil system has good maneuverability. By manipulating the trailing edge control ropes on both sides, the parafoil can complete the actions of gliding and turning. According to this characteristic, the left and right control ropes are respectively controlled by the left and right servo motors, so that the parafoil can run according to the desired trajectory and achieve the goal of precise homing. The current mainstream homing algorithms mainly include simple homing, optimal control homing, segment homing and so on. Among them, the simple homing approaches the target by correcting the current course of the system in real time; the optimal control homing uses the time-optimized or energy-optimized standard to design the homing trajectory; Accurate thinking design trajectory, eas...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 陈奇金焱骅赵敏姚敏陈皓赵志豪
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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