基于模型预测控制的翼伞航迹跟踪
Parafoil Trajectory Tracking Based on Model Predictive Control
李之翰 1南英 1万金诚2
作者信息
- 1. 南京航空航天大学,江苏 南京 210016
- 2. 航空工业航宇救生装备有限公司,湖北 襄阳 441003
- 折叠
摘要
翼伞是一种既可以在空中展开又可以在地面折叠的伞状装置,其具有的高度不稳定性和复杂气动特性给翼伞控制带来了很大挑战.本文提出了一种基于模型预测控制(MPC)的翼伞航迹跟踪控制方法.首先,建立了翼伞运动学和动力学模型,包括了翼伞的位置、速度、加速度等状态变量,以及翼伞运动受到的气动力和气动力矩.然后,采用模型预测控制方法,利用已知的翼伞模型和环境模型进行预测,通过优化算法计算出最优的控制输入,实现对翼伞航迹的跟踪控制.最后,通过仿真试验验证了所提出的控制方法的有效性.相比传统的翼伞跟踪方法,本文提出的方法显示出更优的跟踪性能,该方法能够有效抑制外部扰动的影响,具有良好的控制精度及鲁棒性,有一定的工程应用价值.
Abstract
A parafoil is an umbrella-like device that can be unfolded in the air and folded on the ground.Its inherent high instability and complex aerodynamic characteristics pose significant challenges for parafoil control.This paper proposed a parafoil trajectory tracking control method based on Model Predictive Control(MPC).First,a kinematic and dynamic model of the parafoil is established,including the state variables such as position,velocity,acceleration,and the aerodynamic forces and moments acting on the parafoil's motion.Then,the model predictive control method is employed to predict the parafoil's behavior using the known parafoil model and environmental model,and the optimal control inputs are calculated through an optimization algorithm to achieve parafoil trajectory tracking control.Finally,the effectiveness of the proposed control method is verified through simulation experiments.Compared to traditional parafoil tracking methods,the method proposed in this paper shows better tracking performance.This method can effectively suppress the influence on external disturbances,has good control accuracy and robustness,and has certain engineering application value.
关键词
翼伞/模型预测控制/航迹跟踪/优化算法/仿真验证Key words
parafoil/MPC/trajectory tracking/optimization algorithm/simulation引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据