Parafoil system obstacle avoidance track planning method and system

A technology for track planning and parafoil, which is applied in general control systems, control/adjustment systems, three-dimensional position/channel control and other directions to achieve the effects of simplified control, low track energy consumption, and large control amount redundancy.

Active Publication Date: 2022-06-28
HUAIYIN INSTITUTE OF TECHNOLOGY
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  • 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) parameters. Although the algorithms adopted are different in terms of convergence speed, the results obtained are roughly the same can meet the requirements of precision landing and headwind landing

Method used

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  • Parafoil system obstacle avoidance track planning method and system
  • Parafoil system obstacle avoidance track planning method and system
  • Parafoil system obstacle avoidance track planning method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0117] In this embodiment, the trajectory planning of the parafoil system is carried out under the barrier-free condition, and the objective function is:

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

[0119] That is, the safety obstacle avoidance index J is not considered 4 , and compared with the optimal control homing algorithm based on Gaussian pseudospectral method and the segmented homing algorithm based on genetic algorithm. Among them, the optimal track algorithm based on pseudospectrum refers to the literature: (1) Gao Haitao, Zhang Limin, Sun Qinglin, et al. Fault-tolerant design of homing trajectory of parafoil system based on pseudospectral method [J]. Control Theory and Application. 2013(06) : 702-708; (2) Luo Shuzhen, Sun Qinglin, Tan Panlong, et al. Complex multi-constraint trajectory planning of parafoil system based on Gaussian pseudospectral method [J]. Journal of Aeronautics and Astronautics. 2017(03): 220-230. The segmented track algorithm based on genetic a...

Embodiment 2

[0122] In this embodiment, the obstacle avoidance track planning of the parafoil system is carried out in the presence of obstacles, and the objective function is:

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

[0124] In this embodiment, there are 3 peaks in the parafoil flight area, the center coordinates are (2000, 1000), (1000, 3000), (400, 1500), and the heights of the peaks are 2500, 2000, and 1800, respectively. x si 550, 480, 380 respectively, the preset safety distance R safe is 50 meters, and the rest of the airdrop conditions are exactly the same as the barrier-free situation in Example 1. Considering that the segmented homing method has no obstacle avoidance ability, but the pseudospectral method has the obstacle avoidance planning ability, this embodiment is not suitable for the optimal obstacle avoidance based on the pseudospectral method and the optimal segmented constant value obstacle avoidance method disclosed in the present invention. The effect o...

Embodiment 3

[0131] This embodiment discloses a system for implementing the obstacle avoidance track planning method for the parafoil system in the second embodiment, as shown in FIG. 11 , including:

[0132] Parachute drop-down particle model building module 1 is used to establish the parachute drop-order particle model in the wind-fixed coordinate system:

[0133]

[0134] where (x, y, h) are the position components of the parafoil system in the x, y, and vertical directions of the horizontal plane in the wind-fixed coordinate system, respectively, v s is the horizontal speed of the parafoil system, v z is the vertical velocity, ψ is the heading angle, is the heading angular rate, and u is the control quantity corresponding to the asymmetric down-bias of the parafoil;

[0135] The mountain obstacle model building module 2 is used to establish the mountain obstacle model in the parafoil flight area:

[0136]

[0137] Where h(x, y) is the height of the mountain obstacle at the ho...

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Abstract

The invention discloses a parafoil system obstacle avoidance track planning method, comprising: 1. Establishing a parafoil descending order particle model in a fixed wind coordinate system, and modeling mountain obstacles; 2. Determining the initial moment of airdrop of the parafoil system position and heading angle, the expected position and heading angle at the moment of landing, and the maximum pull-down amount of the parafoil control rope; 3. Combining the horizontal position error of the landing point, the heading error of the landing point, the control energy consumption and the safety obstacle avoidance index, establish The objective function of parafoil system track planning: 4. Divide the parafoil flight period into n adjacent intervals, and the control quantity in each sub-interval takes a constant value to control the parafoil system; 5. Solve the parafoil flight period for each interval The optimal control quantity of , so that the objective function value takes the minimum value; 6. According to the optimal control quantity sequence and the initial state and speed of the parafoil, the planned flight path is obtained. The planned track obtained by this method satisfies the requirements of accurate landing point position, headwind landing, low track energy consumption, and the ability to bypass obstacles such as mountains.

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 obstacle avoidance track planning when there are obstacles in the flight area of ​​a parafoil system. Background technique [0002] The ram-type parafoil is a flexible aircraft made of textile materials. After the parafoil is opened, the air enters the air chamber through 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 parachute can adjust the flight direction and speed of the parafoil to achieve precise landing. Landing has broad application prospects in the fields of accurate airdrop of battlefield materials, accurate airdrop of natural disaster relief materials, an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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