Speed tracking control of object parachute system based on adaptive model prediction
Aiming at the problem of no velocity tracking and large velocity fluctuation of airdropped fragile and explosive objects,an adaptive model predictive control(MPC)method was proposed to control and track the velocity of the object parachute system.Based on the linear discretization umbrella system dynamics model,the velocity tracking prediction model was constructed by the iterative method,the objective function and constraints were designed according to the actual demand,and the optimization solution was carried out in the adaptive MPC controller.The Kalman filter was introduced as the state estimator to make the system have the perception of its own state changes,providing the estimated state to the controller,and realizing the overall feedback correction of the system.The speed tracking performance of the object umbrella system with adaptive MPC control was studied under the conditions of no wind and wind.The results show that the control method can achieve good tracking of the desired speed.The speed tracking performance of the adaptive MPC method and PID control method is compared and analyzed.The results show that the speed oscillation of the adaptive MPC control is less than that of PID control,and the adaptive MPC control has strong ability to resist nonlinear disturbance,which provides a new method for the realization of the speed control of the umbrella system.
object umbrella systemadaptive model predictive controlKalman filtervelocity tracking controlPID
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