未知风场条件下翼伞系统自适应归航算法研究

摘要

针对翼伞系统在未知风场条件和障碍区域内难以保证着陆精度的问题,提出了翼伞系统航迹在线规划方法.在建立翼伞系统六自由度(6DOF)动力学模型的基础上,改进了经典分段归航控制方案,设计了自适应航迹规划算法,得到了低能耗、短航时的航迹规划结果.设计了PD控制器以仿真验证算法的有效性,仿真结果表明:提出的算法满足精确空投任务要求.%Aiming at problem that it is difficult to guarantee landing precision of airdrop system in obstacle areas and unknown wind field conditions,an online planning method is proposed.The multistage homing control method is significantly improved on the basis of setting up 6-DOF dynamic model,and the adaptive path planning algorithm is proposed which results in the reduction of flight time and energy consumption.A simulation environment with PD controller is designed to verify the feasibility of the proposed method.Simulation results show that the proposed algorithm satisfies requirement of precise.