This paper presents a time-varying control methodology for a variable-sized circular parachute to reach a target landing location. A trajectory is calculated for the immediate control horizon using wind forecast data. In order to create a parachute-payload trajectory, a 3-DOF kinematic model is developed. Using this, the performance envelope is determined, revealing the potential target range of the system throughout a descent. Next, this model is extended to develop a control methodology to determine the descent rate, via parachute size manipulation, needed to reach the desired landing target. Finally, simulation results are presented to validate the control scheme. Various release locations were simulated with paired uncontrolled/controlled parachute descents from within the performance envelope. Results demonstrate the feasibility of the system, with controlled parachute descents navigating towards the target. With accurate wind data the vehicle can overcome release location errors as well as vehicle uncertainties and perform significantly better than an uncontrolled parachute.
展开▼
