人伞系统的六自由度运动仿真

Motion Simulation of Man-Parachute System with Six-Degree-of-Freedom

针对跳伞模拟训练系统研发需要,为更准确地模拟人伞系统运动过程,对人伞系统运动仿真进行了研究。首先基于拉格朗日法建立了一种六自由度的人伞系统运动模型,并给出了人伞系统操纵力与力矩的计算方法;其次,考虑大气扰动对人伞运动过程的影响,建立了可靠的风场模型计算实际飞行工况下的风场信息;在此基础上,选取了不同风场环境作为计算条件,对人伞运动过程进行数值仿真,仿真结果表明风场扰动主要通过改变人伞系统迎角与侧滑角以影响运动轨迹,而对运动姿态角影响较小,且可通过适当的操纵输入控制系统运动轨迹。该模型提高了人伞系统运动计算的精度,可为跳伞模拟训练系统的研发提供参考。

In response to the research and development needs of the pilot skydiving simulation training system,in order to more accurately simulate the movement process of the human parachute system,this paper studied the human parachute system motion simulation.Firstly,based on Lagrange method,a six-degree-of-freedom motion model of the man-parachute system was established,and the calculation method of the operating force and moment of the manparachute system was given.Secondly,considering the influence of atmospheric disturbance on the human umbrella motion process,the establishment A reliable wind field model was used to calculate the wind field information under actual flight conditions;on this basis,different wind field environments were selected as the calculation conditions,and the numerical simulation of the parachute movement process was carried out.The simulation results show that the wind field disturbance mainly affects the motion trajectory by changing the angle of attack and sideslip of the parachute system,but has little effect on the motion attitude angle,and the system motion trajectory can be controlled by appropriate manipulation input.The model can improve the accuracy and speed of human parachute system motion calculation,which provides a reference for the research and development of the parachute simulation training system.