CN104503426B - Parafoil control law experiment debugging platform and adjustment method - Google Patents
Parafoil control law experiment debugging platform and adjustment method Download PDFInfo
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- CN104503426B CN104503426B CN201410685523.4A CN201410685523A CN104503426B CN 104503426 B CN104503426 B CN 104503426B CN 201410685523 A CN201410685523 A CN 201410685523A CN 104503426 B CN104503426 B CN 104503426B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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Abstract
The invention discloses a kind of parafoil control law experiment debugging platform and adjustment method, wherein debugging platform includes ground installation and aerial device, ground installation includes ground tune-up center and ground debugging radio station；Aerial device includes control centre, and the aerial debugging radio station that is communicated to connect with the control centre and driving structure, and aerial debugging radio station carries out bidirectional wireless communication with ground debugging platform；The aerial device also includes left and right servo control mechanism, and left and right servo control mechanism is connected with driving structure, and the folding and unfolding of parafoil or so control wire is controlled under the driving of driving structure.The present invention can realize debugging in real time, and effect is debugged by parafoil track Real Time Observation, the characteristics of with real-time, efficient, directly perceived, reliable operation, manual intervention can also be realized, it is practical, the quantity of airdrop test can be reduced, the risk of air-drop is reduced, efficiency is improved.
Description
Technical field
Parafoil control law ginseng in precision aerial delivery system is applied to the present invention relates to the debugging platform of parafoil, more particularly to one kind
Several debugging, the handling characteristic parameter of parafoil is obtained by limited airdrop test, completes the crucial ginseng of flight control to parafoil
Parafoil control law experiment debugging platform and adjustment method that several adjustment determines.
Background technology
Parafoil is used as aerodynamic decelerator flight instruments in precision aerial delivery system, make full use of its gliding ability, navigability energy,
Sparrow drop performance realizes that long distance can manipulate flight, is finally completed fixed point precision landing.
Because parafoil self structure is flexible flight system, flight control is by displacement characteristic, extraneous meteorological condition etc.
The influence of many factors, and the umbrella shape of parafoil is different, area is different, its kinetic characteristic has larger difference.Because parafoil is
Flexible flight system, its characteristic is affected by the external environment, and the influence of particularly wind field is larger, either dynamics simulation,
Or ground simulation test cannot all obtain accurate kinetic characteristic parameter, therefore, paragliding control law parameter relies on air-drop
Experiment adjusts ginseng to determine.
The experiment of airdrop test particularly weight equipment is put to the test with machine, meteorology, the various condition systems of dropping ground geographical environment
About, airdrop test organizes and coordinates the reasons such as complicated, testing expenses are high, empirical risk is big in addition, can only carry out a small amount of experiment and test
Card.But, parafoil control law parameter is related to radius of turn under the gliding speed of parafoil, decrease speed, different manipulated variable, turns
The multiple parameters such as bent angle speed, it usually needs substantial amounts of airdrop test gets parms.Therefore, at present by limited airdrop test
The tune ginseng for completing parafoil control law is difficult to complete.
The content of the invention
The technical problem to be solved in the present invention is in the prior art by various conditionalities, it is impossible to by limited
Airdrop test completes the defect of the tune ginseng of parafoil control law, there is provided a kind of manipulation spy that parafoil is obtained by limited airdrop test
Property parameter, complete to parafoil flight control key parameter adjustment determine parafoil control law experiment debugging platform and debugging side
Method.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of parafoil control law experiment debugging platform, including ground installation and aerial device are provided, wherein：
Ground installation includes ground tune-up center and ground debugging radio station；
Aerial device include control centre, and with the control centre communicate to connect aerial debugging radio station and drive tie
Structure, aerial debugging radio station carries out bidirectional wireless communication with ground debugging platform；The aerial device also includes left and right servo control mechanism, left
Right servo control mechanism is connected with driving structure, and the folding and unfolding of parafoil or so control wire is controlled under the driving of driving structure；
Ground tune-up center debugs radio station and debugging configuration parameter is uploaded into aerial debugging radio station by ground；Control centre presses
According to preset control law and pass through the flight that the debugging configuration parameter that aerial debugging radio station obtains controls parafoil, driving structure and a left side
Right servo control mechanism completes being involved in or discharging for parafoil control wire, so as to control the flight side of parafoil according to the instruction of control centre
To；
During paragliding, control centre receives satellite-signal, obtains the skyborne positional information of parafoil, and pass through
Aerial debugging radio station sends the data to ground tune-up center, and the skyborne flight path of parafoil is shown by ground tune-up center.
In parafoil control law experiment debugging platform of the present invention, the aerial device is integrated in control cabinet.
In parafoil control law experiment debugging platform of the present invention, the debugging configuration parameter includes the ratio of PID control
Example, integration, differential coefficient, the internal diameter and external diameter for spiraling, the height for spiraling, the height of brake, the manipulation value under each yaw angle,
The extreme value of manipulated variable and manipulated variable of spiraling.
In parafoil control law experiment debugging platform of the present invention, control centre includes microprocessor and satellite reception
Machine；Driving structure includes drive amplification circuit and high power DC relay；Left and right servo control mechanism include direct current drive mechanism and
Deceleration device.
Present invention also offers a kind of parafoil control law test adjustment method, comprise the following steps：
The main movement characterisitic parameter of step 1 preliminary test parafoil：
The first step：After system air-drop, parafoil is deployed under gliding state entirely, and now testing parafoil by control centre slides
The horizontal velocity and decrease speed of Xiang flight；
Second step：Ground tune-up center uploads control instruction, default multiple manipulations drop-down to parafoil or so control wire difference
Amount, the radius of the time of the circle of parafoil rotation one and rotation under each manipulated variable of test, and height and the rotation for revolving decline of turning around
Angular speed；
3rd step：Ground tune-up center uploads control instruction, default multiple manipulations drop-down to parafoil bilateral control wire difference
Amount, tests the decrease speed and falling head of parafoil under different manipulated variables；
The preset control law of step 2：
According to the parafoil kinetic characteristic parameter for obtaining, with the method for designing of PID controller, preset paragliding control law
The initial value of parameter, the key parameter of the classification amount, turn circle radius and the height that spirals of different yaw angle lower-pilot amounts is set as
Configurable parameter；
Step 3 airdrop test adjusts ginseng process：
The first step：Control centre controls the heading of parafoil according to preset control law, and in real time by the motion of parafoil
Ground tune-up center, the current movement locus of tune-up center display parafoil are reached under track；
Second step：Parafoil movement locus is observed by ground tune-up center, is contrasted with ideal trajectory, find out influence parafoil
Move the key parameter for deviateing；
3rd step：Modification parameter, is rebound to parafoil control law parameter, and control centre is uploaded to by debugging radio station；
4th step：Control centre passes down current fortune according to the control law parameter for reconfiguring, control paragliding direction
Dynamic rail mark；
Step 3 is repeated, parafoil control law key parameter is determined.
In method of the present invention, " drop-down default multiple manipulated variables are distinguished to parafoil or so control wire " in step 1
Specially：Drop-down 25%, 50%, 75%, 100% manipulated variable is distinguished to parafoil or so control wire；
" distinguishing drop-down default multiple manipulated variables to parafoil bilateral control wire " is specially：Parafoil bilateral control wire is distinguished
Drop-down 25%, 50%, 75%, 100% manipulated variable.
The beneficial effect comprise that：The present invention completes the tune ginseng of parafoil control law using debugging platform, can apply
Determine in the debugging of different airfoil profiles, the control law parameter of the parafoil of different area.The debugging platform can realize debugging in real time, lead to
Parafoil track Real Time Observation debugging effect is crossed, the characteristics of with real-time, efficient, directly perceived, reliable operation, can also be realized artificial dry
In advance, it is practical, the quantity of airdrop test can be reduced, the risk of air-drop is reduced, improve efficiency.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 a are the schematic diagram of aerial parafoil；
Fig. 1 b are parafoil control law experiment debugging platform operating diagrams；
Fig. 2 is parafoil control law experiment debugging platform composition figure；
Fig. 3 is ground tune-up center parafoil movement locus monitoring legend.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
The present invention completes the debugging of paragliding control law key parameter using parafoil control law experiment debugging platform.As schemed
Shown in 1a and Fig. 1 b, the debugging platform includes ground installation and aerial device.Ground installation includes that ground tune-up center and ground are adjusted
Examination radio station.Aerial device include control centre, and with the control centre communicate to connect aerial debugging radio station and drive tie
Structure, aerial debugging radio station carries out bidirectional wireless communication with ground debugging platform；The aerial device also includes left and right servo control mechanism, left
Right servo control mechanism is connected with driving structure, and the folding and unfolding of parafoil or so control wire is controlled under the driving of driving structure.
Ground tune-up center can in real time show the skyborne flight status parameter of parafoil and flight path, additionally, ground is adjusted
Radio station is debugged by the bookbinding of parafoil control law parameter configuration, by ground and be uploaded to aerial control centre in examination station.Two debugging electricity
Platform completes tuning parameter, the downstream transmission of parafoil information；Control centre completes the skyborne real-time positioning of paraglider system, calculates
Navigational parameter, according to the state of flight of the control law state modulator parafoil after adjustment；Drive servo control mechanism complete according to control instruction
Being involved in or discharge into parafoil control wire, changes paragliding direction.
Radio station and aerial debugging radio station are debugged using duplexing data radio station in ground, and meet that data double-way is wirelessly transferred will
Ask, data transmission distance is not less than 20km.Ground tune-up center can use portable laptop computers, operation windows operations
Ground debugging software under system, for the monitoring and debugging of aerial paraglider system.Control centre can be using micro- place of computing high
Reason device is core, includes DVB, completes the data such as control, the positioning of paraglider system, the parafoil motion state of parafoil
Under pass.In the embodiment of the present invention, driving structure can be made box-like, driving structure box includes drive amplification circuit and high-power straight
Current relay, receives the motor port control command that control centre sends, and drives the adhesive or release of corresponding relay；Servo
Structure includes motor drive mechanism and winch reductor device, and driving structure box repeat circuit controls the rotation of servo control mechanism motor drive mechanism；The wing
Umbrella control wire is divided into left side, two, right side control wire, and two groups of left and right servo control mechanism controls two folding and unfoldings of control wire in left and right respectively.
As shown in Fig. 2 the up-downgoing that debugging radio station completes data is wirelessly transferred；Ground tune-up center completes matching somebody with somebody for tuning parameter
Put and upload, and show the skyborne sporting flying track of parafoil；Control centre according to preset control law and the parameter of configuration,
The flight control of parafoil is completed, and receives satellite-signal, obtain the skyborne positional information of parafoil；Driving structure and left and right servo
Mechanism completes being involved in or discharging for parafoil control wire, so as to control the heading of parafoil according to the instruction of control centre.
Wherein, the parameter of configuration is included：The ratio of PID control, integration, differential coefficient；Internal diameter, the external diameter for spiraling；Spiral
Height；The height of brake；Manipulation value under each yaw angle；The extreme value of manipulated variable；Manipulated variable of spiraling etc..
Parafoil control law experiment debugging platform workflow is as follows：
（1）Before the main movement characterisitic parameter of preliminary test parafoil, i.e. airdrop test adjust ginseng, parafoil kinetic characteristic is first carried out
The test of parameter, determines the initial value of parafoil control law parameter：
The first step：After system air-drop, parafoil is deployed under gliding state entirely, and now testing parafoil by control centre slides
The horizontal velocity and decrease speed of Xiang flight.
Second step：Ground tune-up center uploads control instruction, respectively it is drop-down to parafoil or so control wire such as 25%, 50%, 75%,
100% manipulated variable, tests time, the radius of rotation of the circle of parafoil rotation one under each manipulated variable, rotation turn around decline height,
Turning rate.
3rd step：Ground tune-up center uploads control instruction, respectively it is drop-down to parafoil bilateral control wire such as 25%, 50%, 75%,
100% manipulated variable, tests decrease speed, the falling head of parafoil under different manipulated variables.
The initial value of control law parameter is determined after the completion of test.
（2）Preset control law：
According to the parafoil kinetic characteristic parameter for obtaining, with the method for designing of PID controller, preset paragliding control law
The initial value of parameter, the classification amount of different yaw angle lower-pilot amounts, turn circle radius, the key parameters such as height that spiral are set as matching somebody with somebody
Put parameter.Configurable parameter is mainly included：What parafoil maximum manipulated variable LM, brake or sparrow drop manipulated variable LQ, brake or sparrow dropped
The radius RMA/RMI that height HQ, the COEFFICIENT K P/KI/KD of PID controller, parafoil spiral, altitude range HR, target-seeking flight
Separation δ, the size L δ every manipulated variable.
（3）Airdrop test adjusts ginseng process：
The first step：After air-drop, control centre receives satellite-signal, aerial positioning is implemented to paraglider system, according to positioning
As a result, the control in paragliding direction is carried out according to the control law parameter being pre-configured with, and by the skyborne movement locus of parafoil
Under reach ground tune-up center.
Second step：The current movement locus of tune-up center display parafoil observes parafoil movement locus by ground tune-up center, such as
Shown in Fig. 3, contrasted with ideal trajectory, found out the key parameter that influence parafoil motion deviates.
3rd step：Timely modification parameter, corrects again to parafoil control law parameter, is uploaded in control by debugging radio station
The heart.
4th step：Control centre passes down current fortune according to the control law parameter for reconfiguring, control paragliding direction
Dynamic rail mark.
（4）Repeat the above steps（3）, perform multiple, it may be determined that parafoil control law key parameter.
After control centre receives the control law parameter of renewal, parafoil is flown according to the control law after current renewal
Control.Ground tune-up center obtains paragliding track, gradually corrected parameter, gradually approach ideal trajectory, it is final to obtain preferable
Control law parameter.
The present invention completes the tune ginseng of parafoil control law using debugging platform, can be applied to the wing of different airfoil profiles, different area
The debugging of the control law parameter of umbrella determines.The debugging platform can realize debugging in real time, be debugged by parafoil track Real Time Observation
Effect, the characteristics of with real-time, efficient, directly perceived, reliable operation, can also realize manual intervention, practical, can reduce air-drop
The quantity of experiment, reduces the risk of air-drop, improves efficiency.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
1. a kind of parafoil control law experiment debugging platform, it is characterised in that including ground installation and aerial device, wherein：
Ground installation includes ground tune-up center and ground debugging radio station；
Aerial device include control centre, and with the control centre communicate to connect aerial debugging radio station and driving structure,
Aerial debugging radio station carries out bidirectional wireless communication with ground debugging platform；The aerial device also includes left and right servo control mechanism, left and right
Servo control mechanism is connected with driving structure, and the folding and unfolding of parafoil or so control wire is controlled under the driving of driving structure；
Ground tune-up center debugs radio station and debugging configuration parameter is uploaded into aerial debugging radio station by ground；Control centre is according to pre-
The control law put and the flight that parafoil is controlled by the debugging configuration parameter that aerial debugging radio station obtains, driving structure and left and right are watched
Take instruction of the mechanism according to control centre, being involved in or discharging for parafoil or so control wire is completed, so as to control the flight side of parafoil
To；
During paragliding, control centre receives satellite-signal, obtains the skyborne positional information of parafoil, and by aerial
Debugging radio station sends the data to ground tune-up center, and the skyborne flight path of parafoil is shown by ground tune-up center.
2. parafoil control law experiment debugging platform according to claim 1, it is characterised in that the aerial device is integrated in
In control cabinet.
3. parafoil control law experiment debugging platform according to claim 1, it is characterised in that the debugging configuration parameter bag
Ratio, integration, the differential coefficient of PID control are included, the internal diameter and external diameter for spiraling, the height for spiraling, the height of brake, each yaw angle
Under manipulation value, the extreme value of manipulated variable and manipulated variable of spiraling.
4. parafoil control law experiment debugging platform according to claim 1, it is characterised in that control centre includes microprocessor
Device and DVB；Driving structure includes drive amplification circuit and high power DC relay；Left and right servo control mechanism includes straight
Stream motor drive mechanism and deceleration device.
5. a kind of parafoil control law test adjustment method based on claim 1, it is characterised in that comprise the following steps：
The kinetic characteristic parameter of step 1 preliminary test parafoil：
The first step：After system air-drop, parafoil is deployed under gliding state entirely, and now testing parafoil gliding by control centre flies
Capable horizontal velocity and decrease speed；
Second step：Ground tune-up center uploads control instruction, and drop-down default multiple manipulated variables are distinguished to parafoil or so control wire, surveys
Try the time enclosed of parafoil rotation one and the radius for rotating under each manipulated variable, and height and the anglec of rotation speed for revolving decline of turning around
Rate；
3rd step：Ground tune-up center uploads control instruction, and drop-down default multiple manipulated variables are distinguished to parafoil or so control wire, surveys
Try the decrease speed and falling head of parafoil under different manipulated variables；
The preset control law of step 2：
According to the parafoil kinetic characteristic parameter for obtaining, with the method for designing of PID controller, preset paragliding control law parameter
Initial value, by the classification amount of different yaw angle lower-pilot amounts, turn circle radius and spiral height be set as configurable parameter；
Step 3 airdrop test adjusts ginseng process：
The first step：Control centre controls the heading of parafoil according to preset control law, and in real time by the movement locus of parafoil
Under reach ground tune-up center, the current movement locus of ground tune-up center display parafoil；
Second step：Parafoil movement locus is observed by ground tune-up center, is contrasted with ideal trajectory, find out influence parafoil motion
The key parameter of deviation；
3rd step：Modification parameter, rebinds to parafoil control law parameter, and debugging radio station by ground is uploaded to control centre；
4th step：Control centre passes down current kinetic rail according to the control law parameter for reconfiguring, control paragliding direction
Mark；
Step 3 is repeated, parafoil control law key parameter is determined.
6. adjustment method according to claim 5, it is characterised in that " drop-down is distinguished to parafoil or so control wire in step 1
Default multiple manipulated variables " are specially：Drop-down 25%, 50%, 75%, 100% manipulated variable is distinguished to parafoil or so control wire.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104881363B (en) * | 2015-06-24 | 2017-12-12 | 中国航空工业集团公司西安飞机设计研究所 | A kind of method of testing of control law software |
| CN106325296B (en) * | 2016-08-29 | 2019-05-24 | 航宇救生装备有限公司 | A kind of precision aerial delivery system ground monitoring system |
| CN107121940B (en) * | 2017-05-27 | 2021-01-15 | 南京航空航天大学 | Four-degree-of-freedom semi-physical simulation platform for parafoil |
| CN109094725B (en) * | 2018-10-17 | 2019-07-30 | 青岛昊运船艇制造有限公司 | Levitating parachute towboat power debugs platform |
| CN112254919B (en) * | 2020-10-16 | 2023-01-13 | 航宇救生装备有限公司 | Wind tunnel test device for aerodynamic characteristics and manipulation characteristics of flexible parafoil |
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| CN2375362Y (en) * | 1998-12-29 | 2000-04-26 | 魏向东 | Remote-control power paraglider |
| CN102323759A (en) * | 2011-06-27 | 2012-01-18 | 南开大学 | The parafoil semi-matter simulating system of independently going home |
| CN103303475A (en) * | 2013-05-31 | 2013-09-18 | 中国人民解放军国防科学技术大学 | Unmanned power parafoil and air-drop positioning method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2925182B1 (en) * | 2007-12-18 | 2021-07-02 | Airbus France | METHOD AND DEVICE FOR DETECTION OF OSCILLATORY FAILURES IN A SLAVE CHAIN IN POSITION OF AN AIRCRAFT RUDDER. |
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|---|---|---|---|---|
| CN2375362Y (en) * | 1998-12-29 | 2000-04-26 | 魏向东 | Remote-control power paraglider |
| CN102323759A (en) * | 2011-06-27 | 2012-01-18 | 南开大学 | The parafoil semi-matter simulating system of independently going home |
| CN103303475A (en) * | 2013-05-31 | 2013-09-18 | 中国人民解放军国防科学技术大学 | Unmanned power parafoil and air-drop positioning method thereof |
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