翼伞系统在未知风场中的归航控制

Homing control of parafoil systems in unknown wind environments

翼伞系统在未知风场中执行归航任务时,需获得风场的大小和方向信息,以便在归航过程中利用或者消除风场的影响。为实现翼伞系统在未知风场中精确归航与逆风雀降着陆,首先提出一种利用全球定位系统(GPS)定位数据和最小二乘法在线辨识风向和风速的方法,然后将风场中平均风的影响在轨迹规划中予以考虑,设计分段归航路径;将突风作为外界干扰,在轨迹跟踪过程中由线性自抗扰控制(LADRC)器进行观测和补偿。最后通过仿真实验验证了本文所提出的归航控制方法对于提高翼伞系统在未知风场中的归航精度和抗风能力有重要意义。

It is important for parafoil systems in performing homing tasks in unknown wind environments to identify the speed and direction of the wind, so as to take advantage or eliminate impacts of the wind in the homing process. To realize accu- rate homing and flare landing, a wind identification method using global position system （GPS） information and least square method is proposed to the estimate unknown wind disturbances. A multiphase homing trajectory is planned with consideration of the influences of the mean winds. A homing trajectory tracking controller is designed based on linear active disturbance re- jection control （LADRC） strategy to observe and compensate the disturbances of gusts. Simulation experiments of homing in unknown windy conditions are conducted. The results demonstrate that the proposed homing control method is of great impor- tance for improving homing accuracy and wind resistance ability of homing of parafoil systems in unknown wind environments.