试伞机器人自动控制研究

Research on Automatic Control of Parachute Robot

为了实现基于试伞机器人的空投试验,本文针对其自动控制问题展开了研究。在理论研究的基础上,本文设计了一种基于PD原理的试伞机器人自动控制器,并在几种典型工况下进行了仿真试验与半实物试验。根据试验结果,本文所设计的自动控制器控制效果良好,可以满足空投试验的要求。

In order to realize the airdrop test based on the parachute robot, its automatic control problem was studied.Based on the theoretical research, an automatic controller of the parachute robot based on the PD principle was designed,and the simulation test and the semi-physical test under several typical conditions were made. According to the test results, the automatic controller designed had good control effect and could meet the requirements of airdrop test.