Dynamics analysis and simulation of 9 DOF unmanned powered parachute based on Kane method

摘要

A formulation based on Kane Equation and kinematics of unmanned powered parachute was educed, which includes free and constraintmode. The velocities of unmanned powered parachute's parafoil and vehicalvehicle which linked to base joint were chosen as generalized velocities. The partial velociy and the partial angular velocity of parafoil and vehical were educed. Develop a 9DOF dynamics model of a unmanned powered parachute. The numerical simulation of the dynamics was carried out by using MATLAB software.The simulation results show that the unmanned powered parachute has passive and constraint characteristics.The dynamics can provide theoretical bases for analysis and simulation of the umanned powered prachute control and so forth.