Multi-parafoil formation cooperative control method and system based on consistency
A collaborative control and consistent technology, applied in the control/regulation system, non-electric variable control, three-dimensional position/channel control, etc., can solve the problems of impossible infinite increase of parafoil load capacity, high price and limited capacity, etc. The effect of reducing the risk of electromagnetic exposure, good fault tolerance, and reducing the risk of collision
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Embodiment 1
[0034] This embodiment takes six parafoils to form a triangular formation as an example to describe in detail the consistency-based multi-parafoil formation cooperative control method disclosed by the present invention. The process is as follows figure 1 shown, including:
[0035] Step 1, determine the communication link between the pilot parafoil, the formation formation, and the parafoil;
[0036] The constraint condition of the communication link is: there is a communication link from the leading parafoil to any following parafoil;
[0037] The desired formation formation of 6 parafoils is as follows figure 2 As shown, the 6 parafoils are respectively located on the 3 vertices and 3 sides of the triangular formation, and the parafoils are numbered 0-5, with the No. 0 parafoil as the leading parafoil, and the No. 1-5 parafoils as the following parafoils , determine the distance between parafoils according to the formation requirements. Take the pilot parafoil as the orig...
Embodiment 2
[0112] This embodiment discloses the multi-wing parachute formation cooperative control system that realizes embodiment one, such as Figure 10 shown, including:
[0113] The pilot parafoil and formation formation control module is used to determine the communication link between the pilot parafoil, formation formation and parafoil;
[0114] The pilot parafoil homing track planning module is used to plan the homing track Fp={path(m)} of the pilot parafoil according to the method of step (2) in embodiment one;
[0115] The pilot parafoil track tracking module is used to control the pilot parafoil track track point path (m) on the homing track according to the method of step (3) in embodiment one;
[0116] The following parafoil parameter calculation module is used to calculate the virtual control input, equivalent control input and acceleration, glide angular velocity, and heading angular velocity of each following parafoil according to the method of steps (4) and (5) in the f...
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