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Consistency-based multi-wing parachute formation cooperative control method and control system

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: 2022-07-12
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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  • Consistency-based multi-wing parachute formation cooperative control method and control system
  • Consistency-based multi-wing parachute formation cooperative control method and control system
  • Consistency-based multi-wing parachute formation cooperative control method and control system

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Embodiment 1

[0034] In this embodiment, six parafoils form a triangular formation as an example to describe in detail the consistency-based multi-wing parafoil formation collaborative control method disclosed in the present invention. The process is as follows figure 1 shown, including:

[0035] Step 1. Determine the communication link between the pilot parafoil, formation formation, and parafoil;

[0036] The constraints of the communication link are: there is a communication link between the pilot parafoil and any following parafoil;

[0037] The expected formation of the 6 parafoils is as follows figure 2 As shown, the 6 parafoils are located on the 3 vertices and 3 sides of the triangular formation respectively. The parafoils are numbered 0-5, with No. 0 parafoil as the pilot parafoil, and No. 1-5 as the follower parafoil. , according to the formation requirements to determine the distance between the parafoils. Take the pilot parafoil as the origin, and take the projection directi...

Embodiment 2

[0112] This embodiment discloses the realization of the multi-wing parachute formation cooperative control system of the first embodiment, 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] A pilot parafoil homing track planning module, configured to plan the homing track Fp={path(m)} of the pilot parafoil according to the method of step (2) in the first embodiment;

[0115] The pilot parafoil track tracking module is used to control the pilot parafoil to track the track point path(m) on the homing track according to the method of step (3) in the first embodiment;

[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 met...

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Abstract

The invention discloses a multi-wing parafoil formation collaborative control method and control system based on consistency, wherein the formation collaborative control method comprises: 1. determining the communication link between the pilot parafoils, the formation formation and the parafoils; 2. Planning the homing track Fp={path(m)} of the pilot parafoil; 3. The pilot parafoil tracks the track points on the homing track; 4. According to the formation formation and the cooperative control law of the consistent formation, calculate each 5. Convert the virtual control input of each following parafoil into an equivalent control input; calculate the acceleration, glide angular velocity, and heading angular velocity of each following parafoil according to the equivalent control input; 6. Determine whether the tracking is over, if not, repeat steps 3-5 until reaching the landing target point. The method can realize the assembly, collision avoidance and formation of the multi-wing parachute system, and finally realize the accurate air drop of the multi-wing parachute.

Description

technical field [0001] The invention belongs to the technical field of airdrop control of a multi-wing parachute system, and relates to an air-dropping method for rapidly dropping large-scale materials, in particular to a method and a system for realizing coordinated formation air-dropping of multiple parafoils using consistency. Background technique [0002] The parafoil is a precise airdrop device with high lift-to-drag ratio and good controllability. It can quickly airdrop materials to the target point, and expand the traditional supply method from ground transportation supply to three-dimensional supply in three-dimensional space. , It can cross the obstacles of mountains and rivers, and has broad application prospects in the fields of earthquake relief, military, aircraft recovery, agriculture, tourism and so on. [0003] The current research in the field of parafoil airdrop mainly focuses on a single parafoil. The main contents of the research include the analysis of t...

Claims

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Application Information

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Patent Type & Authority Patents(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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