翼伞系统分段归航轨迹的优化设计

摘要

针对翼伞系统定点着陆和定点回收的问题,采用分段归航的方法对归航轨迹进行设计.通过分析轨迹各段之间的几何关系,以提高落点精度和减少翼伞能量消耗为目标,将轨迹规划问题转变为参数寻优问题,根据翼伞初始高度的不同提出不同的归航方案,并针对同一翼伞初始位置点,分别考虑了翼伞采用左侧下拉操纵的方式和采用右侧下拉操纵方式的区别.仿真结果表明:翼伞全程采用左侧下拉操纵和全程采用右侧下拉操纵都能满足落点要求,但是两种操纵方式所消耗的能量并不相同,需要最终选择消耗能量少的轨迹作为最优轨迹;不同翼伞初始高度所选择的归航方案有所不同,对于大量高度冗余和高度适中的翼伞初始点,所设计的归航方案可满足落点精度的要求,对于翼伞初始高度低的情况,通过设计归航方案减少了落点误差,为系统研究翼伞的归航打下好的基础.%According to the fixed landing and fixed point recovery of parafoil system's task,the theory of multiphase design is used to design the homing trajectory of parafoil system.In order to improve the accuracy of the landing point and reduce the energy consumption as the goal,the problem of trajectory planning is transformed to parameter optimizing on the basis of geometric relation of each phase trajectory,according to the initial height of the parafoil,different homing project are proposed,and using the left deflection controlled or the right deflection controlled respectively to plan the homing trajectory for the same initial position.The computational results show that the parafoil system use the left deflection controlled or the right controlled which can meet the requirements of the placement,but the energy consumed is different by the different operating modes,the trajectory with less energy consumption is selected as the optimal homing trajectory;The different homing project is selected with the different intial altitude of parafoil,for a large number of highly redundant and highly moderate initial points,the design method of the homing trajectory satisfies the requirements of parafoil homing accuracy,for the case where the initial height of the parafoil is low,through the design of homing project reduces the landing error,which is established a good foundation for parafoil's homing control.