摘要
无人动力伞系统具有非线性和较强耦合性的特点,飞行高度与稳定性同时受多个维度上的影响,难以控制。针对复杂风场扰动环境下动力伞的高度稳定控制问题,对动力伞非线性姿态控制模型以及控制器参数自整定进行研究。首先对动力伞动力学模型进行分析,在此基础上引入风场模型。将风场环境和动力伞非线性方程进行组合,利用PID控制器进行控制研究,分析无人动力伞在不同模式下高度上升的稳定性控制,然后基于此条件进行仿真分析,并通过仿真验证模型可靠性。
The unmanned parachute system has the characteristics of nonlinearity and strong coupling,and its flight altitude and stability are affected by multiple dimensions at the same time,making it difficult to control.Aiming at the problem of altitude stability control of dynamic parachutes under complex wind field disturbances,the nonlinear attitude control model and controller parameter self-tuning of dynamic parachutes are studied.Firstly,the dynamic model of the dynamic parachute is analyzed,and then a wind field model is introduced.Combining the wind field environment and the nonlinear equations of the powered parachute,using PID controllers to conduct control research,analyze the stability control of the unmanned powered parachute in different modes of altitude rise,and then conduct simulation analysis based on this condition,and verify the reliability of the model through simulation.
出处
《工业控制计算机》
2023年第11期78-80,共3页
Industrial Control Computer
关键词
动力伞姿态
非线性系统
风场模型
高度控制
PID
unmanned parachute attitude
nonlinear system
wind field model
altitude control
PID
