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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

Active Publication Date: 2020-04-28
NANJING QINMAO INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Large parafoils have a strong load capacity, but are also more expensive, and if the airdrop fails, the losses will be relatively large. At the same time, larger parafoils require a larger transport aircraft cabin, but the capacity of the transport aircraft cabin is limited, so the parafoil It is impossible to increase the load capacity infinitely

Method used

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  • Multi-parafoil formation cooperative control method and system based on consistency
  • Multi-parafoil formation cooperative control method and system based on consistency
  • Multi-parafoil formation cooperative control method and system based on consistency

Examples

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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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Abstract

The invention discloses a multi-parafoil formation cooperative control method and system based on consistency. The formation cooperative control method comprises the steps: step 1, determining pilot parafoils, a formation and communication links among the parafoils; step 2, planning a homing flight path Fp = {path (m)} of the pilot parafoil; step 3, tracking track points on a homing track by the pilot parafoil; step 4, calculating a virtual control input of each following parafoil according to the formation and the consistent formation cooperative control law; step 5, converting the virtual control input of each following parafoil into an equivalent control input; calculating the acceleration, the gliding angular velocity and the course angular velocity of each following parafoil accordingto the equivalent control input; and step 6, determining whether tracking is finished or not, and if not, repeating the steps 3 to 5 until a landing target point is reached. With the method, the integration, collision avoidance and formation of the multi-parafoil system can be realized and the accurate airdrop of the multi-parafoil can be realized.

Description

technical field [0001] The invention belongs to the technical field of multi-parafoil system airdrop control, and relates to an airdrop method for quickly delivering large-scale materials, in particular to a method and a system for realizing coordinated formation airdrop of multiple parafoils utilizing consistency. Background technique [0002] The parafoil is a precise airdrop device with a high lift-to-drag ratio and good maneuverability. It can quickly airdrop materials to the target point, and expand the traditional supply method from the ground transportation supply to the three-dimensional supply in three-dimensional space. It has fast, three-dimensional , can cross mountains and rivers and other characteristics, it has broad application prospects in earthquake relief, military, aircraft recovery, agriculture, tourism and other fields. [0003] The current research in the field of parafoil airdrops mainly focuses on a single parafoil. The main content of the research i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02T90/00
Inventor 陈奇刘星妍李浩远陆春玲刘超何晓凤
Owner NANJING QINMAO INTELLIGENT TECH CO LTD
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