Dynamic parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy

Abstract

The invention provides a dynamic parafoil semi-physical simulation system based on an active-disturbance-rejection decoupling control strategy, and relates to the field of unmanned aerial vehicle flight control, an 8-DOF parafoil dynamic model can effectively simulate the flight state of an actual parafoil system, model parameters are easy to correct, and information such as the slide-down ratio and the turning radius can be compared with the actual flight environment; the flight control algorithm based on ADRC decoupling is realized by a hardware controller, and the precision of trajectory tracking can be effectively improved through a coupling compensation method. And the PC is communicated with the hardware controller through an RS232 serial port. According to the control method based on ADRC decoupling, the coupling effect of the system can be effectively overcome, and the anti-interference performance and the trajectory tracking precision are improved. The power parafoil supports ground take-off and landing, the requirement for experimental conditions is not high, repeatability is high, parameters are convenient to adjust, and the research and development period is shortened.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle flight control, in particular to a semi-physical simulation system of a powered parafoil based on an active disturbance rejection decoupling control strategy. Background technique [0002] The parafoil system is widely used in aerospace, military and civil fields because of its good gliding performance, stability and good maneuverability. Especially in the field of aircraft recycling in my country, the previous aviation recycling used circular umbrellas, and the landing points were relatively random, while the booster of the Long March 3B launch vehicle was the first time to return home autonomously through the large parafoil system, and realized It has also achieved certain leadership in the field of international aircraft recycling. [0003] However, this kind of unpowered parafoil system often costs a lot in the early experiments, because the airdrop test needs to take the parafoil system...

AI Technical Summary

Problems solved by technology

The complexity of the powered parafoil system model is relatively high. In addition to the three degrees of freedom of the parachute and the load, the relative pitch and relative yaw motions between the two have to be considered. It is difficult to apply accurate model information to the control algorithm. superior

The traditional pid control does not rely on model information, it is easy to use but the adjustment accuracy is not high enough, and the anti-disturbance performance is not strong enough

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