CN107121940A - A kind of parafoil four-degree-of-freedom semi-physical emulation platform - Google Patents
A kind of parafoil four-degree-of-freedom semi-physical emulation platform Download PDFInfo
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- CN107121940A CN107121940A CN201710388000.7A CN201710388000A CN107121940A CN 107121940 A CN107121940 A CN 107121940A CN 201710388000 A CN201710388000 A CN 201710388000A CN 107121940 A CN107121940 A CN 107121940A
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Abstract
The invention discloses a kind of parafoil four-degree-of-freedom semi-physical emulation platform, including housing, data collecting system, kinetic control system, umbrella borne control system and model state resolving system；The positional information of data collecting system gathering simulation platform, umbrella borne control system receives the positional information, and obtain corresponding controlled quentity controlled variable according to control algolithm of going home, model state resolving system receives the controlled quentity controlled variable, receive interference instruction from countermeasure set simultaneously, and status command is calculated, umbrella borne control system is fed back to, and then control kinetic control system.The platform is moved according to different control instructions, paraglider system can be simulated in actual air-drop for the action produced by different trailing edge umbrella rope manipulated variables, simultaneously, data collecting system and the formation closed-loop control of umbrella borne control system, control effect is intuitively embodied with the characteristics of motion of platform, and position, posture can accurately be measured, and the validity of control algolithm is able to verify that before air-drop, experimental cost and experiment risk are greatly reduced.
Description
Technical field
The present invention relates to parafoil Simulation Control, more particularly to a kind of parafoil four-degree-of-freedom semi-physical emulation platform.
Background technology
Paraglider system has good maneuvering performance, by manipulating both sides trailing edge control wire, and parafoil can be made to complete gliding, turn
Curved action.According to this characteristic, left and right control wire drop-down amount is controlled by left and right servomotor respectively, parafoil can be made according to the phase
The track operation of prestige, completes the target accurately gone home.The homing algorithm of current main flow mainly includes simply going home, optimum control is returned
Boat, segmentation are gone home.Wherein, simply go home by the current course of Real Time Correction System to approach target；Optimum control go home with
The standard of time optimal or energetic optimum designs track of going home；Segmentation goes home to approach target overhead, consumed energy and contrary wind
The thinking planned course of alignment, it is easy to manipulate and realize, extensive use is received in engineering.
Document report at present to all kinds of Path Plannings is more, and less to the report for controller design of going home, empty
It is the principal element for restricting its research and development to throw a large amount of human and material resources spent by experiment.In order to promote the research that parafoil is controlled,
Facilitate the development of parafoil control experiment, it is necessary to be that one simplicity of parafoil experimental design is light and handy, easily controllable and expansion is strong
Semi-physical emulation platform, and can truly reflect the control characteristic of paraglider system.Existing semi-matter simulating system only uses weight mould
Intend the stress of parafoil control wire, and system platform is fixed, the position and course of system can only be provided by simulation,
And not obtained by actual GPS, inertial navigation real-time sampling, therefore the real time kinematics of parafoil can not be simulated completely.
In order to embody the motion state of parafoil in the way of visual pattern, calculated in external, attitude angle each side access control
The validity of method, it is necessary to which design is provided closer in the parafoil semi-physical emulation platform of practical implementation for steerable parasail delivery
Effectively, reliable experimental system.
The content of the invention
Goal of the invention：Exist to overcome the shortcomings of that prior art presence can simulate parafoil there is provided one kind in two dimensional surface
Gliding, turning in three dimensions etc. are acted, and embody handling characteristic of the trailing edge control wire for parafoil, are going home for parafoil
Control research provides easy easy-to-use and reliable and effective parafoil four-degree-of-freedom semi-physical emulation platform.
Technical scheme：A kind of parafoil four-degree-of-freedom semi-physical emulation platform, including housing, data collecting system, motion control
System processed, umbrella borne control system and model state resolving system；
Data collecting system includes umbrella set sensor, and the umbrella set sensor includes installed in enclosure interior and flat positioned at emulation
The inertial navigation of the centroid position of platform and gps system；The reception device of gps system is arranged on housing, and the GPS and inertial navigation system are adopted
Collect position and the attitude information of emulation platform；
Kinetic control system includes being arranged on three omni-directional wheels, servo corresponding with each omni-directional wheel electricity on the outside of housing bottom
Machine and its driver；Direction and velocity magnitude that each omni-directional wheel is rotated are controlled by servomotor and its driver, with reality
Translation and rotation in existing two dimensional surface；
Umbrella borne control system, is realized by industrial computer, receives the measurement data of data collecting system, and according to going home, control is calculated
Method, obtains corresponding controlled quentity controlled variable and exports to give model state resolving system；
Model state resolving system, is realized by industrial computer, and it receives the control instruction that umbrella borne control system is sent, while from
Countermeasure set receive interference instruction, both of which as model state resolving system input；Model state resolving system is according to upper
The state at one moment and input, iteration obtain the value of subsequent time model state amount；And calculate to reach the state, three
The velocity attitude and steering angle size of individual omni-directional wheel motion, and umbrella borne control system is given by this instruction feedback, and then control motion
Control system.
Wherein, the coordinate information of the gps system gathering simulation platform, the yaw angle of inertial navigation system gathering simulation platform,
Eulerian angles, roll angle and 3-axis acceleration information.
The state model that the model state resolving system is resolved is parafoil four-degree-of-freedom model, and it includes X, Y, Z axis position
Put four quantity of states of coordinate and yaw angle；Wherein, amount of height, which also serves as factor of influence, influences the value of other specification, to realize
Simulation three-dimensional coordinate in two dimensional surface.The elevation information of emulation platform is provided in system initialization, is used as release altitude.With
The operation of system, model state resolving system is successively decreased amount of height, and the difference inputted with controlled quentity controlled variable, the speed successively decreased
Change therewith.
The countermeasure set is controlled in wireless relay module.Manual wireless remote-cotnrolled device can send various types of signal, control
The break-make of corresponding relay on emulation platform, the break-make of relay is gathered using data collecting card, and can simulate remote control is dry
Disturb signal and be input to model state resolving system.
Three omni-directional wheels are spacedly distributed in the bottom periphery of emulation platform with 120 °.It is each by Serve Motor Control
Rotation direction and rotating speed are taken turns, emulation platform can complete the translation and the rotation of itself of all directions.
The power-supply system of the emulation platform uses the combination of lithium battery collocation inverter.Lithium battery is chargeable to be used, green
Color efficiently, meets the demand of the outdoor experiment of system；DC conversion can be 220V alternating currents by inverter, meet industry control
The power demands of the experimental facilities such as machine, inertial navigation.
The voltage range of the lithium battery is 36V to 48V, and the output waveform of the inverter is sine wave, to avoid production
Raw electromagnetic pollution, inertial navigation and GPS to carrying produce interference.Overtension can bring potential potential safety hazard, brownout meeting
Cause operating current excessive, equally than relatively hazardous；The output waveform of inverter has square wave, sine wave etc., should be using output just
The inverter of string ripple, it is to avoid produce electromagnetic pollution, inertial navigation and GPS to carrying produce interference.
Further, the emulation platform also includes the display system being arranged on housing, to the letter of display motion in real time
Breath and control information.
Beneficial effect：Compared with prior art, the present invention has advantages below：
(1) semi-physical simulation platform structure that the present invention is designed is simple, can intuitively reflect the motion state of paraglider system,
Number of sensors can be increased or decreased according to the actual requirements, and autgmentability is strong.
(2) present invention is not reducing parafoil model compared with control experimental program of going home of the tradition dependent on airdrop test
On the premise of accuracy, it can be carried out on ground with relatively low experimental cost and tested, the control algolithm of going home to design carries out one
Determine the checking in degree.
(3) of the invention compared with the semi-physical emulation platform that existing position is fixed, system is real time kinematics, system
Horizontal level, course be all during actual motion real-time sampling and obtain, can more simulate parafoil motion state.
Brief description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is omni-directional wheel equation of motion schematic diagram；
Fig. 3 is increment type PID algorithm Heading control experimental principle block diagram；
Fig. 4 is vectoring tracking test result figure；
Fig. 5 is to become orientation tracking experimental result picture.
Embodiment
Below with reference to accompanying drawing, technical scheme is described in detail.
A kind of parafoil four-degree-of-freedom semi-physical emulation platform, including data collecting system, kinetic control system, umbrella carry control
System and model state resolving system.
As shown in figure 1, the platform has a housing 1, housing lower end outside wall is provided with three omni-directional wheels 3, and two neighboring
Angle between omni-directional wheel is 120 °；Enclosure interior is provided with three servomotors 4, motor driver 5 and lithium battery and inverter
7, to drive three omni-directional wheel motions.Enclosure interior, which is located near the centroid position of system, is provided with inertial navigation and GPS sensor
2, and the reception device of GPS sensor is installed on housing；Enclosure interior is also equipped with industrial computer 6, and it is by serial ports with being used to
Lead and connected with GPS sensor, measurement data is transmitted in real time.Display panel 8 is installed outside housing upper end, surveyed to display in real time
Measure data.
The power-supply system combined as the emulation platform of lithium battery collocation inverter.Lithium battery is chargeable to be used, green
Efficiently, the demand of the outdoor experiment of system is met；Inverter can by DC conversion be 220V alternating currents, meet industrial computer,
The power demands of the experimental facilities such as inertial navigation.The voltage range of its lithium battery should elect 36V to 48V as, and overtension can bring potential
Potential safety hazard, brownout can cause operating current excessive, equally than relatively hazardous；The output waveform of inverter has square wave, just
String ripple etc., should be using the inverter for exporting sine wave, it is to avoid produce electromagnetic pollution, and inertial navigation and GPS to carrying produce interference.
Data collecting system mainly includes the sensors such as inertial navigation and GPS, can also increase respective sensor according to the actual requirements.
GPS gathers platform coordinate information, the information such as yaw angle, Eulerian angles, roll angle and the 3-axis acceleration of inertial navigation acquisition platform.Inertial navigation
It is connected with GPS sensor by serial ports with industrial computer, measurement data is transmitted in real time.Inertial navigation is arranged near system centroid position,
The accuracy of measurement data is improved, GPS need to install reception device on housing.Data collecting system is in parsing sensing data
When, it is necessary to be verified to every frame data, it is ensured that read data accuracy, be filtered if necessary, prevent data burr
Occur.
Umbrella borne control system is realized with model state resolving system in industrial computer.Umbrella borne control system is to instruct emulation
The foundation of platform motion, receives the measurement data of data collecting system first, measurement data and ideal data is made into poor, according to pre-
The control control algolithm of going home put, iterative calculation obtains corresponding controlled quentity controlled variable output.In different control algolithms of going home, system can
According to algorithm needs, the sensing data of respective classes is chosen as input, the scope of control instruction output should be limited, make it
The no more than maximum of the unilateral drop-down amount of parafoil umbrella rope.In experiment is gone home in actually air-drop, add to the flight path to parafoil
To correct, or parafoil is instructed to be flown towards target location, controller needs to obtain umbrella set sensor (i.e. data acquisition system in real time
System) measurement data, and calculate the drop-down amount that both sides control wires needs.This emulation platform is equipped with inertial navigation and GPS sensor,
Both the angle information that can have been provided according to inertial navigation calculates course deviation, and the coordinate of track can also be directly tried to achieve according to gps data
Deviation, can adapt to the demand of various control algorithm.
Model state resolving system is the key point for enabling emulation platform to simulate parafoil kinetic characteristic, according to parafoil four
Degrees of Freedom Model builds system, possesses four frees degree in X, Y, Z axis position and yaw angle.Controlled from umbrella borne control system
Instruction, i.e., unilateral umbrella rope drop-down amount, is instructed while receiving interference from countermeasure set, both of which as system input.System root
State and input according to last moment, iteration obtain the value of four quantity of states of subsequent time model.Further, calculate for
The state is reached, three omni-directional wheels need to rotate with which kind of velocity attitude and size, and this is instructed down be transmitted to umbrella and carry control
System.
The countermeasure set uses controlled in wireless relay module.Manual wireless remote-cotnrolled device can send various types of signal, control
The break-make of corresponding relay on emulation platform processed, the break-make of relay is gathered using data collecting card, remote control can be simulated
Interference signal is input to model state resolving system.
It is paragliding rule that four-degree-of-freedom model state resolving system, which resolves control input,.Four-degree-of-freedom model foundation
The parafoil Aerodynamic relation that A Rosich and P Gurfil are proposed is set up, and is specially：
Big ground is considered as plane by the model, and sets up the model under earth coordinates, wherein,Respectively
Represent the speed of three change in coordinate axis direction of paraglider system；Represent the rate of change in paraglider system course；γ is flight track angle, table
Show the angle of velocity attitude and horizontal plane；σ represents system tilt angle；G represents acceleration of gravity；V represents rectilinear flight speed.The wing
In umbrella four-degree-of-freedom model, using controlled quentity controlled variable as input parameter, x, y, z axial coordinate and yaw angle ξ under inertial coodinate system
The status information of parafoil is represented as four frees degree, wherein, z-axis coordinate (i.e. height) also as other quantity of states influence because
Son.
Wherein, the elevation information of emulation platform is provided in system initialization, is used as release altitude.With the fortune of system
OK, model state resolving system is successively decreased amount of height, and the difference inputted with controlled quentity controlled variable, and the speed successively decreased becomes therewith
Change.The amount of height at a certain moment, which also serves as factor of influence, influences the value of other specification.Simulated so as to solve in two dimensional surface
The problem of three-dimensional coordinate.
This emulation platform receives the controlled quentity controlled variable of umbrella borne control system output as input according to four-degree-of-freedom modelling,
Model state equation is iterated with this, obtains new triaxial coordinate and yaw angle.Wherein, amount of height is in system initialization
When be configured, successively decreased with model iteration, while also influenceing the calculating process of other quantity of states, solved in two dimensional surface
The problem of interior simulation three-dimensional coordinate.Ground experiment can not realize the remote dispensing in true air-drop, emulation platform can using etc.
The scheme of scale smaller, will be apart from N times of diminution.Gliding speed in model is reduced N times, then corresponding triaxial coordinate rate of change is also
N times is reduced therewith；Meanwhile, according to formula(V ' expression gliding speeds, R represents radius of turn,Represent yaw angle change
Rate), in the case where driftage angular rate of change is constant, radius of turn can be reduced N times by way of reducing gliding speed, with
This solves the problem of simulating remote air-drop in small range experimental site.
Kinetic control system includes three omni-directional wheels, and respectively takes turns corresponding servomotor and its driver, passes through control
Direction and speed that each omni-directional wheel is rotated, can control the translation and rotation of whole platform.The servomotor utilizes data
Capture card receives digital command, and output 0-10V magnitudes of voltage come rotating speed and the direction of controlled motor, realize DA controls.In model shape
In state resolving system, parafoil model receives controlled quentity controlled variable, by iteration, and calculate that parafoil each quantity of state need to make corresponding changes
Become, specially three axle speeds and yaw angle rate of change etc..Further, the equation of motion of three omni-directional wheels is resolved, is passed through
The translation and rotation of emulation platform are controlled, the flight path of parafoil is simulated.
As shown in Fig. 2 three omni-directional wheels are spacedly distributed with 120 °, D represent omni-directional wheel center to robot barycenter away from
From.The kinematical equation of omni-directional wheel is：
Wherein, ω1、ω2、ω3Represent the rotating speed of three wheels, r ' expression omni-directional wheel radiuses, vxRepresent that emulation platform is sat in body
Pace under mark system, ω represents velocity of rotation of the emulation platform under body coordinate system.In actual emulation experiment, due to parafoil
The action of crabbing can not be completed, can be by vyIt is set to 0.
Using this emulation platform, corresponding checking can be made to control algolithm of going home.Parafoil is generally required pair during going home
Course is made adjustment, to correct flight path.According to target point and current location information, ideal course as outlined can be calculated.It is used
The course angle for being capable of real-time acquisition system is led, once there is deviation, can be corrected using control algolithm.
To verify the validity of Design of Simulation Platform, the present patent application devises Heading control using increment type PID algorithm
Device, as shown in figure 3, being the structure design block diagram of parafoil increment type PID algorithm Heading control experiment, and is tested twice.
In testing twice, fixed course angle and the course angle being continually changing are tracked respectively, in the process, using infrared
Remote control is continuously added air quantity interference, examines the validity of control algolithm.
As shown in figure 4, in experiment one, it is 0 ° to set Normal Course angle, and algorithm have modified what emulation platform was initially present
25 ° of course deviations, can also be modified for the air quantity interference being continuously added into, and controlled quentity controlled variable curve is more smooth, it is easy to work
Cheng Shixian.
As shown in figure 5, in experiment two, setting standard angle to switch between 0 °, 10 °, 20 °, 30 °, emulation platform is increasing
Under the control of amount formula pid algorithm, the tracking of course angle can be carried out, controlling curve is equally more smooth, only goes out in standard angle
During existing saltus step there is larger change in controlled quentity controlled variable.
Test result indicates that：, can be to paragliding state using parafoil four-degree-of-freedom emulation platform proposed by the present invention
Simulated, for the control algolithm of going home of proposition, be able to verify that its validity, experimental basis is provided for true airdrop test.
Claims (8)
1. a kind of parafoil four-degree-of-freedom semi-physical emulation platform, it is characterised in that：Including housing, data collecting system, motion control
System processed, umbrella borne control system and model state resolving system；
Data collecting system includes umbrella set sensor, and the umbrella set sensor is included installed in enclosure interior and positioned at emulation platform
The inertial navigation of centroid position and gps system；The reception device of gps system is arranged on housing, and GPS and the inertial navigation system collection is imitative
The position of true platform and attitude information；
Kinetic control system include be arranged on housing bottom on the outside of three omni-directional wheels, servomotor corresponding with each omni-directional wheel and
Its driver；Direction and velocity magnitude that each omni-directional wheel is rotated are controlled by servomotor and its driver, to realize two
Translation and rotation in dimensional plane；
Umbrella borne control system, is realized by industrial computer, receives the measurement data of data collecting system, according to control algolithm of going home, is obtained
Exported to corresponding controlled quentity controlled variable and give model state resolving system；
Model state resolving system, is realized by industrial computer, and it receives the control instruction that sends of umbrella borne control system, while from interference
Device receive interference instruction, both of which as model state resolving system input；Model state resolving system was according to upper a period of time
The state at quarter and input, iteration obtain the value of subsequent time model state amount；And calculate to reach the state, three are complete
Umbrella borne control system is given to the velocity attitude and steering angle size of wheel motion, and by this instruction feedback, and then controls motion control
System.
2. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 1, it is characterised in that：The GPS systems
The coordinate information of system gathering simulation platform, yaw angle, Eulerian angles, roll angle and three axles of inertial navigation system gathering simulation platform accelerate
Spend information.
3. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 1, it is characterised in that：The model shape
The state model that state resolving system is resolved is parafoil four-degree-of-freedom model, and it includes X, Y, Z axis position coordinates and yaw angle four
Individual quantity of state；Wherein, amount of height, which also serves as factor of influence, influences the value of other specification, and three-dimensional is simulated in two dimensional surface to realize
Coordinate.
4. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 1, it is characterised in that：The interference dress
It is set to controlled in wireless relay module.
5. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 1, it is characterised in that：Described three complete
It is spacedly distributed to wheel with 120 ° in the bottom periphery of emulation platform.
6. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 1, it is characterised in that：The emulation is flat
The power-supply system of platform uses the combination of lithium battery collocation inverter.
7. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 6, it is characterised in that：The lithium battery
Voltage range be 36V to 48V, the output waveform of the inverter is sine wave, to avoid producing electromagnetic pollution, to carrying
Inertial navigation and GPS produce interference.
8. a kind of parafoil four-degree-of-freedom semi-physical emulation platform according to claim 1, it is characterised in that：The emulation is flat
Platform also includes the display system being arranged on housing, to display movable information and control information in real time.
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| CN107656533A (en) * | 2017-11-15 | 2018-02-02 | 航宇救生装备有限公司 | A kind of air-drop load bed posture adjustment control method based on double antenna direction finding |
| CN109094725A (en) * | 2018-10-17 | 2018-12-28 | 青岛昊运船艇制造有限公司 | Levitating parachute towboat power debugs platform |
| CN111046486A (en) * | 2019-11-18 | 2020-04-21 | 西北工业大学 | Carrier rocket one-sub-stage umbrella-control recovery flight path planning method |
| CN111897362A (en) * | 2020-08-06 | 2020-11-06 | 南京航空航天大学 | Parafoil combined type flight path planning method in complex environment |
| CN113204911A (en) * | 2021-07-02 | 2021-08-03 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Fluid-solid coupling simulation method and system for trailing edge deflection process of ram parafoil |
| CN114740762A (en) * | 2022-05-07 | 2022-07-12 | 南开大学 | Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy |
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