无人机伞降回收过程动力学建模与仿真

摘要

文章以无人机的降落伞回收系统为研究对象．通过对伞降回收过程中各阶段动力学特性的分析，推导了便于编程实现的矢量形式降落伞-飞行器二体系统动力学模型。在此基础上，给出了利用MATLAB环境的面向对象和并行计算特性搭建无人机回收过程蒙特卡罗仿真环境的一种实现方案。最后，根据仿真计算的结果对某无人机在不同条件下的回收安全性、落点散布特性等进行了计算分析．为后续总体设计方案的验证、改进和优化提供了参考依据。%This paper provides an overview of the dynamic characteristics of a UAV parachute recovery system and derives, a vectorized form of parachute-aircraft dynamic ODE model for computer simulation. In addition, a MATLAB-based parallel Monte Carlo simulation program framework is presented. The UAV recovery processes under various flight uncertainties are simulated and analyzed, which has demonstrated the ability of the simulation software to predict the performance of the recovery system and provides a reference for the subsequent verification, improvement and optimization of the overall design.