Event-triggered multi-parafoiled unmanned aerial vehicle system

An event-triggered, unmanned aerial vehicle technology, applied in attitude control, three-dimensional position/channel control, etc., can solve the problem of not being able to cope with the violent shaking of parafoil drones, and not considering the travel planning and control of multiple parafoil drone systems Questions and other questions
CN107608366AActive Publication Date: 2018-01-19NINGBO UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
NINGBO UNIV
Publication Date
2018-01-19

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Abstract

An event-triggered multi-parafoiled unmanned aerial vehicle (UAV) system is composed of a ground control station and a plurality of parafoiled UAVs. Each parafoiled UAV is provided with a measurementsensor module, a parafoil drive control module, and a steering engine. The ground control station is provided with a parafoil attitude calculation module, a parafoil attitude control module, an eventemergency module, a parafoil drive identification module, and a parafoil drive control inversion module. Each parafoiled UAV is provided with a drive model detection module. When the real-time attitude change of a parafoiled UAV exceeds the change margin, the event emergency module is triggered to make the corresponding parafoil drive control module stop working, the parafoiled UAV enters a free flight state, and the specific input value zeta(optimize) of current over time obtained by the parafoil drive control inversion module is input to the parafoil drive control module of the parafoiled UAV. The system has the advantage that the parafoiled UAVs only need to collect data and execute commands, and do not need to carry out event-triggered operation.
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Description

technical field

[0001] The invention relates to the field of homing trajectory control of multiple parafoil unmanned aerial vehicles. Background technique

[0002] The parafoil drone is a controllable and gliding parachute, which has a wide range of needs and applications in military, aerospace and other fields. Then, whether it can land safely by the scheduled landing point is the target of the whole parafoil control. The state of drifting with the wind often causes the landing deviation to be several kilometers or even tens of kilometers. Therefore, it is extremely important to use advanced control methods to complete precise airdrops and fixed-point lossless.

[0003] Domestic research institutes and universities that study parafoil short systems mainly include Beihang University, China Southern Airlines, Aviation Equipment Research Institute, Hangyu Lifesaving Equipment Co., Ltd. Airdrop Department, etc. Jiao Liang et al. proposed an intelligent algorithm for trajectory...

Claims

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