Parafoil system obstacle avoidance flight path planning method and system

A track planning and parafoil technology, applied in general control systems, control/regulation systems, three-dimensional position/course control, etc.

Active Publication Date: 2020-11-03
HUAIYIN INSTITUTE OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above-mentioned segment homing algorithm adopts the same objective function, which converts the trajectory planning problem into the optimization problem of entry point (Entry Point) parame

Method used

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  • Parafoil system obstacle avoidance flight path planning method and system
  • Parafoil system obstacle avoidance flight path planning method and system
  • Parafoil system obstacle avoidance flight path planning method and system

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0116] Example 1:

[0117] Trajectory planning, the objective function according to the present embodiment will be parafoil system accessible in case:

[0118] J = f 1 J 1 + f 2 J 2 + f 3 J 3

[0119] That is not considered safe avoidance index J 4 , And the optimal control algorithm based on Gauss homing pseudo-spectral method, homing segmentation algorithm based on genetic algorithm were compared. Wherein the optimal trajectory algorithm based Pseudospectral Reference literature: (1) high Haitao, Limin, Sunqing Lin, et parafoil system pseudo-spectral method based on homing trajectory tolerant design [J] Control Theory and Applications .2013 (06). : 702-708; (2) Luoshu Zhen, Sunqing Lin, Long Tan hope, other pseudo Gaussian parafoil system based on a complex multi-spectral method of path planning constraints [J] Aeronautical Journal .2017 (03): 220-230... Track segment based Genetic Algorithm Reference literature: (1) bears phthalocyanine, Qin Zi increase, Cheng arts, etc. Optim...

Example Embodiment

[0121] Example 2:

[0122] This embodiment will be obstacle avoidance system Parafoil Path Planning in the presence of obstacles, the objective function is:

[0123] J = f 1 J 1 + f 2 J 2 + f 3 J 3 + f 4 J 4

[0124] Gradient related quantity embodiment of the present embodiment there are three peaks parafoil flight region, the center coordinates are (2000, 1000), (1000, 3000), (400,1500), the peak height were 2500,2000,1800, x si 550,480,380, respectively, preset safety distance R safe Is 50 m, the rest is identical conditions as in Example drop in a situation accessible. Considering the segment homing method not avoidance capability, but there is obstacle avoidance method Pseudospectral planning capacity, therefore the present embodiment, the optimal avoidance segments based on the optimal pseudo-spectral method of the present invention and the disclosure of a constant flight obstacle avoidance planning trace effect were compared. like Image 6 and Figure 7 As shown in the figur...

Example Embodiment

[0130] Example 3:

[0131] In this embodiment, a system that implements the mid-wing umbrella system to avoid travelers, as shown in Figure 11, including:

[0132] Pointing umbrella price reduction pricing model establishing module 1 for establishing a wing umbrella of wind fixing coordinate system:

[0133]

[0134] Where (x, y, h) is the positional component of the horizontal X direction, Y direction and vertical direction in the wind fixing coordinate system, respectively, V. V s For the horizontal direction of the wing umbrella system, V z For the vertical speed, ψ is the navigation angle, To the horned angular rate, u is the amount of control corresponding to the wing umbrella unsmailing;

[0135] Mountain peak disorder model establishes module 2 for establishing a macro disorder in the mountain peak impairment:

[0136]

[0137] Where H (x, y) is the peak obstacle height value at the horizontal coordinates (x, y); M is the number of peak obstacles in the fly umbrella fl...

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Abstract

The invention discloses a parafoil system obstacle avoidance flight path planning method, which comprises the steps of 1, establishing a parafoil order reduction particle model under a wind fixed coordinate system, and modeling a peak obstacle; 2, determining the position and the course angle of the parafoil system at the initial moment of air drop, the expected position and the expected course angle at the landing moment, and the maximum pull-down amount of a parafoil control rope; 3, combining landing point horizontal position errors, landing point course errors, control energy consumption and safety obstacle avoidance indexes to establish an objective function of parafoil system route planning; 4, dividing a parafoil flight period into n adjacent intervals, and taking a constant value of a control quantity in each sub-interval to control a parafoil system; 5, solving the optimal control quantity of each interval in the parafoil flight period, and enabling the objective function value to be the minimum value; and 6, obtaining a planned route according to the optimal control quantity sequence and the initial state and speed of the parafoil. The planned flight path obtained by themethod meets the requirements of accurate landing point position, headwind landing and low flight path energy consumption, and can bypass obstacles such as mountains and the like.

Description

technical field [0001] The invention belongs to the technical field of parafoil track planning, and in particular relates to a method and system for planning an obstacle-avoiding track when obstacles exist in the flight area of ​​a parafoil system. Background technique [0002] The stamped parafoil is a flexible aircraft made of textile materials. After the parafoil is opened, the air enters the air chamber through the cutout at the front edge of the parafoil, forming a stagnation pressure in the air chamber, so that the parafoil can maintain a relatively stable wing shape and generate lift. and resistance, so the parafoil has a high lift-to-drag ratio, excellent gliding performance and controllability. Pulling the trailing edge of the canopy can adjust the flying direction and speed of the parafoil to achieve precise landing, which overcomes the shortcomings of the traditional circular parachute's flight trajectory floating with the wind and large spread of landing points. ...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05B13/04G05B13/02
CPCG05D1/105G05D1/106G05B13/042G05B13/0265
Inventor 陈奇石春雪郑霞李忠华郭丽杨锦会朱祥耿砚文王大友周进
Owner HUAIYIN INSTITUTE OF TECHNOLOGY
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