翼伞系统5段归航轨迹优化研究

Optimization Design of Homing Trajectory of Parafoil System with Five Segments

为实现翼伞系统精确空投和方便归航过程下拉操控,需对翼伞归航轨迹分段处理并优化。建立翼伞系统高精度9自由度动力学模型,通过数值分析得到稳态滑翔比以及转弯角速率限值。以耗能最小为目标函数,耗时和转弯半径为输入变量,建立5段归航轨迹优化模型。将5段归航轨迹作为初始条件,利用伪谱法进行轨迹优化,给出归航最优参考路径,并对比分析了5段归航与直接归航过程能量损耗。仿真结果表明,所提出的5段归航轨迹优化策略,具有其控制量函数形式简单、便于应用的优点。

The parafoil homing trajectory should be processed and optimized in segments in order to realize the accurate airdrop and easy drop-down control during homing.A high precision 9-degree-of-freedom dynamic model of parafoil system is established.A five-segment homing trajectory optimization model is established,in which the minimum energy consumption is taken as the objective function and the time consumption and turning radius are taken as the input variables.The optimal reference path of homing is given by using the five-segment homing trajectory as the initial condition and using the pseudo-spectral method to optimize the trajectory,and the energy losses in the five-segment homing and direct homing processes are compared and analyzed.The simulated results show that the five-segment homing trajectory optimization strategy proposed in this paper has the advantage of simple control function form and easy application.