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Event-triggered multi-paraglider UAV system

An event-triggered, unmanned aerial vehicle technology, applied in three-dimensional position/channel control, attitude 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

Active Publication Date: 2021-02-05
NINGBO UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, this parafoil unmanned aerial vehicle is only applicable to the situation of only one parafoil unmanned aerial vehicle, does not consider the itinerary planning and control problems of multiple parafoil unmanned aerial vehicles systems, and cannot cope with the airflow that makes the parafoil useless. Emergency events such as violent shaking of man and machine

Method used

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  • Event-triggered multi-paraglider UAV system
  • Event-triggered multi-paraglider UAV system
  • Event-triggered multi-paraglider UAV system

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Embodiment Construction

[0085] Such as figure 1 As shown, the structural diagram of the parafoil UAV is mainly composed of the left control rope 1, the right control rope 2, the parafoil 3, and the steering gear.

[0086] An event-triggered multi-parafoil UAV system consists of a ground control station and multiple parafoil UAVs. Each parafoil UAV has a measurement sensor module, a parafoil drive control module and steering gear, and a driving model The detection module and the parafoil drive control module enable the steering gear to control the length of the control rope, and the measurement sensor module measures the real-time information of the parafoil UAV. The real-time information includes: acceleration information, angular velocity information, the orientation determined by the magnetometer and the position of the control rope length, and the actual drive current of the steering gear.

[0087] The ground control station has a trajectory planning module, a parafoil attitude calculation module...

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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.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
Inventor 陈将进陈特欢
Owner NINGBO UNIV
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