One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish au...One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.展开更多
Focusing on the problems in the process of simulation and experiment on a parafoil nonlinear dynamic system,such as limited methods,high cost and low efficiency,we present a semi-physical simulation platform.It is des...Focusing on the problems in the process of simulation and experiment on a parafoil nonlinear dynamic system,such as limited methods,high cost and low efficiency,we present a semi-physical simulation platform.It is designed by connecting parts of physical objects to a computer,and remedies the defect that a computer simulation is divorced from a real environment absolutely.The main components of the platform and its functions,as well as simulation flows,are introduced.The feasibility and validity are verified through a simulation experiment.The experimental results show that the platform has significance for improving the quality of the parafoil fixed-point airdrop system,shortening the development cycle and saving cost.展开更多
文摘针对欠驱动RTAC(rotational/translational actuator)的镇定问题,提出了一种滑模自抗扰控制方法,通过对总扰动的观测和补偿降低了未知扰动对RTAC的影响.为克服RTAC的欠驱动特性,所提方法通过将可驱动的摆球角度和无驱动的小车位置两个状态相结合,构建出虚拟被控量作为系统输出,从而使RTAC的动力学模型转换为非欠驱动模型.基于重建的模型设计线性扩张状态观测器(linear extended state observer,LESO)和滑模控制器,并采用Lyapunov方法证明RTAC的闭环稳定性,实现了RTAC的镇定控制,有效抑制了小车的振荡.最后,通过数值仿真和硬件实验验证了所提控制方法的有效性,与已有方法的对比分析证明该方法具有良好的控制性能.
基金Project(61273138)supported by the National Natural Science Foundation of ChinaProject(14JCZDJC39300)supported by the Key Fund of Tianjin,China
文摘One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.
基金Supported by the National Natural Science Foundation of China under Grant No 61273138the Key Project of Tianjin Natural Science Foundation(10JCZDJC15900).
文摘Focusing on the problems in the process of simulation and experiment on a parafoil nonlinear dynamic system,such as limited methods,high cost and low efficiency,we present a semi-physical simulation platform.It is designed by connecting parts of physical objects to a computer,and remedies the defect that a computer simulation is divorced from a real environment absolutely.The main components of the platform and its functions,as well as simulation flows,are introduced.The feasibility and validity are verified through a simulation experiment.The experimental results show that the platform has significance for improving the quality of the parafoil fixed-point airdrop system,shortening the development cycle and saving cost.
