Time-Varying Descent Rate Control Strategy for Circular Parachutes

摘要

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. To create a parachute-payload trajectory, a three-degree-of-freedom kinematic model is developed. Using this, the performance envelope is determined, revealing the potential target range of the system during a descent Next, this model is further developed into a control methodology to determine the necessary descent rate, to reach the desired landing target, to be controlled via parachute size manipulation. 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 actively navigating toward 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 in reaching targeted landing locations.