Dynamic modeling is the basis of aircraft design. As a new-type flexibile aircraft, Parafoil has been investyateed many works, but still have a lot of problems. The main parafoil dynamics model includes 6-degree of freedom (DOF) and 9-DOF. The 6-DOF regard parafoil and payload as a complete rigid, parafoil and payload is joint by rigid connection; 9-Dof regard parafoil and payload as relative independent rigid, parafoil and payload joint by pin connection. Both of dynamic models ignore the flexibility of parafoil, and can not reflect the real motion of parafoil. This paper based on parafoil recorvery system assumes that parafoil and ropeare linked by hinge, and regards the rope as elastic road, the strap and load are linked also by elastic road. Finally we build pa-rafoil 15-DOF model. On the one hand we consider the relative motion of junction point of rope, on the other hand we consider the relative of payload. Then we analysis turning flight states of the 15-DOF parafoil. The con-clusion indicates that the 15-DOF model is more accurate and comprehensive to reflect the motion of parafoil curtained with 9-DOF model. Besides that, it can also explain the motion of sling and intersect poin of rope.%动力学建模是飞行器设计的基础,翼伞作为一种新型的柔性飞行器,在动力学建模方面已经有了较多研究,但仍存在诸多不足.当前翼伞的动力学模型主要有六自由度模型与九自由度模型.六自由度模型将翼伞与载荷当做一个刚体,两体之间采用固定连接;九自由度模型在六自由度模型的基础上考虑了翼伞与载荷间的相对运动,将翼伞与载荷当做两个刚体,两体之间采用铰连接.两种动力学模型都没有体现出翼伞的柔性,与真实的翼伞存在较大差距.文章载荷-翼伞多体飞行系统为研究对象,假定伞绳和吊带分别通过铰链与翼伞和载荷相连接,考虑了伞绳和吊带具有的弹性,伞绳的相交点与伞衣具备相对运动,载荷舱与翼伞除相对转动外还考虑到其相对平移,建立了翼伞十五自由度模型.施加翼伞后缘下偏并仿真计算翼伞转弯运动情况,并与九自由度模型的计算结果进行对比.结果表明,相对于九自由度模型,翼伞十五自由度能够更加真实全面地反映了翼伞的运动情况,除了翼伞的总体运动以外,还能够反映吊带、伞绳相交点的运动.
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