| 引用本文: | 孙昊,孙青林,卢伟涛.动力翼伞风扰补偿高度控制方法.[J].国防科技大学学报,2024,46(3):116-125.[点击复制] |
| SUN Hao,SUN Qinglin,LU Weitao.Altitude control of powered parafoil with wind feedforward compensation[J].Journal of National University of Defense Technology,2024,46(3):116-125[点击复制] |
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| 动力翼伞风扰补偿高度控制方法 |
| 孙昊,孙青林,卢伟涛 |
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(南开大学 人工智能学院, 天津 300350)
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| 摘要: |
| 外界风场是影响翼伞高度跟踪精度的最主要扰动因素。针对该问题,建立了动力翼伞的八自由度模型,并在传统自抗扰控制的基础上,设计一种基于风场前馈补偿的改进抗扰控制器,对外界的风场干扰进行针对性补偿,实现翼伞系统的高度跟踪控制。在通过仿真实验对控制器进行初步验证的基础上,进行了翼伞系统的实际飞行实验。在实际飞行环境下,仿真中所调节的控制器参数可直接应用于实际飞行实验,翼伞系统的平均高度跟踪误差在2.5 m以内,证明所设计的控制器存在一定的实际应用价值。 |
| 关键词: 自抗扰控制 翼伞系统 高度控制 风场补偿 轨迹跟踪 |
| DOI：10.11887/j.cn.202403012 |
| 投稿日期：2022-11-10 |
| 基金项目:国家自然科学基金资助项目(62003177,61973172,62003175)；国家部委基金资助项目(8091B022133) |
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| Altitude control of powered parafoil with wind feedforward compensation |
| SUN Hao, SUN Qinglin, LU Weitao |
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(College of Artificial Intelligence, Nankai University, Tianjin 300350, China)
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| Abstract: |
| The lift of the powered parafoil system is determined by the system′s airspeed, making it susceptible to external wind interference and the primary disturbance factor affecting the accuracy of the parafoil′s altitude tracking. To address this issue, an eight-degree-of-freedom model of the powered parafoil was established based on traditional active disturbance rejection control. An improved disturbance compensation controller was designed based on wind field feedforward compensation. The compensation for external wind disturbance was targeted. The altitude tracking control of the parafoil system was achieved. Based on preliminary verification of the controller through simulation experiments, actual flight experiments of the parafoil system were conducted. In the actual flight environment, the control parameters adjusted in the simulation can be directly applied to the actual flight experiments, and the average altitude tracking error of the paraglider system is within 2.5 m, which proving that the designed controller has some practical application value. |
| Keywords: active disturbance rejection control parafoil system altitude control wind compensation trajectory tracking |
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