Dynamic Modeling and Experimental Verification of Powered Parafoil With Two Suspending Points

摘要

This paper presents the dynamic modeling process of a powered parafoil (PPF). The PPF is composed of parafoil and payload equipped with a propeller. The payload is suspended to the parafoil via two suspending points, therefore the motion of the payload relative to the parafoil must be considered in the dynamic and control study. The proposed model of the PPF is derived from the Lagrangian equations and dynamic constraints with six degree of freedom (DOF) of the parafoil and two DOF of the payload. In the modeling process, the velocity, angular rate and force constraints are introduced and the detailed modeling process is provided. Time-domain response of the PPF under different conditions are calculated and the dynamic characteristics of the PPF are analyzed. A series of simulations are implemented to illustrate the manipulation characteristics. Furthermore, the dynamic model is validated by comparing the simulation results with the experimental data.