CN107121940B - Four-degree-of-freedom semi-physical simulation platform for parafoil - Google Patents
Four-degree-of-freedom semi-physical simulation platform for parafoil Download PDFInfo
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- CN107121940B CN107121940B CN201710388000.7A CN201710388000A CN107121940B CN 107121940 B CN107121940 B CN 107121940B CN 201710388000 A CN201710388000 A CN 201710388000A CN 107121940 B CN107121940 B CN 107121940B
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Abstract
The invention discloses a parafoil four-degree-of-freedom semi-physical simulation platform which comprises a shell, a data acquisition system, a motion control system, an umbrella-mounted control system and a model state resolving system, wherein the shell is provided with a data acquisition system and a model state resolving system; the data acquisition system acquires position information of the simulation platform, the umbrella-mounted control system receives the position information and obtains corresponding control quantity according to a homing control algorithm, the model state calculation system receives the control quantity, receives an interference instruction from the interference device, calculates a state instruction, feeds the state instruction back to the umbrella-mounted control system, and then controls the motion control system. The platform moves according to different control instructions, the actions of the actual aerial-drop parafoil system on the manipulation quantities of different trailing edge parachute ropes can be simulated, meanwhile, the data acquisition system and the parachute-mounted control system form closed-loop control, the control effect is visually embodied according to the movement rule of the platform, the position and the posture can be accurately measured, the effectiveness of a control algorithm can be verified before aerial-drop, and the experiment cost and the experiment risk are greatly reduced.
Description
Technical Field
The invention relates to parafoil simulation control, in particular to a parafoil four-degree-of-freedom semi-physical simulation platform.
Background
The parafoil system has good operation performance, and the parafoil can complete the actions of gliding and turning by operating the operation ropes at the rear edges of two sides. According to the characteristic, the parachute can run according to an expected track by respectively controlling the pull-down amount of the left and right control ropes through the left and right servo motors, and the accurate homing target is completed. The current mainstream homing algorithm mainly comprises simple homing, optimal control homing, segmented homing and the like. The simple homing approaches a target by correcting the current course of the system in real time; optimally controlling homing to design a homing track according to a time optimal or energy optimal standard; the segmented homing is designed to approach the sky above a target, consumes energy and aims against the wind, so that the trajectory is designed, the operation and the realization are easy, and the engineering is widely applied.
At present, more documents are reported on various flight path planning algorithms, less reports are reported on the design of a navigation controller, and a large amount of manpower and material resources consumed by an air-drop test are main factors for restricting the research and development of the air-drop test. In order to promote the research of parafoil control and facilitate the development of parafoil control experiments, a simple, light, easy-to-control and strong-expansibility semi-physical simulation platform is necessary to be designed for the parafoil experiments, and the control characteristics of a parafoil system can be truly reflected. The existing semi-physical simulation system only uses a heavy hammer to simulate the stress of a parafoil control rope, a system platform is fixed, the position and the course of the system can only be given by system simulation, and are not obtained by actual GPS and inertial navigation real-time sampling, so that the real-time motion of the parafoil cannot be completely simulated.
In order to embody the motion state of the parafoil in a visual and visual mode and verify the effectiveness of a control algorithm in the aspects of external arrangement and attitude angle, a parafoil semi-physical simulation platform closer to the practical application of engineering needs to be designed, and an effective and reliable experiment system is provided for parafoil airdrop.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the four-degree-of-freedom semi-physical simulation platform for the parafoil can simulate actions of the parafoil such as gliding, turning and the like in a three-dimensional space in a two-dimensional plane, reflect the control characteristics of a trailing edge control rope on the parafoil, and provide simple, convenient, easy-to-use, reliable and effective parachute-based control research.
The technical scheme is as follows: a parafoil four-degree-of-freedom semi-physical simulation platform comprises a shell, a data acquisition system, a motion control system, an umbrella-mounted control system and a model state resolving system;
the data acquisition system comprises an umbrella-mounted sensor, and the umbrella-mounted sensor comprises an inertial navigation system and a GPS system which are arranged in the shell and positioned at the position of the mass center of the simulation platform; a receiving device of the GPS system is arranged on the shell, and the GPS and the inertial navigation system acquire the position and attitude information of the simulation platform;
the motion control system comprises three omnidirectional wheels arranged on the outer side of the bottom of the shell, servo motors corresponding to the omnidirectional wheels and drivers of the servo motors; the rotation direction and speed of each omnidirectional wheel are controlled through a servo motor and a driver thereof, so that translation and rotation in a two-dimensional plane are realized;
the umbrella-mounted control system is realized by an industrial personal computer, receives the measurement data of the data acquisition system, obtains corresponding control quantity according to a homing control algorithm, and outputs the control quantity to the model state resolving system;
the model state resolving system is realized by an industrial personal computer, receives a control instruction sent by the umbrella-mounted control system, receives an interference instruction from the interference device at the same time, and takes the control instruction and the interference instruction as the input of the model state resolving system; the model state calculating system iterates to obtain the value of the model state quantity at the next moment according to the state and the input of the previous moment; and the moving speed direction and the steering angle of the three omnidirectional wheels are calculated to achieve the state, and the instruction is fed back to the umbrella-mounted control system to further control the movement control system.
The GPS system acquires coordinate information of the simulation platform, and the inertial navigation system acquires yaw angle, Euler angle, roll angle and triaxial acceleration information of the simulation platform.
The state model solved by the model state solving system is a parafoil four-degree-of-freedom model which comprises X, Y, Z axial position coordinates and four state quantities of yaw angles; the high-degree value is also used as an influence factor to influence the values of other parameters so as to realize the simulation of three-dimensional coordinates in a two-dimensional plane. The height information of the simulation platform is given as the launching height when the system is initialized. The model state solution system decreases the height with the operation of the system, and the decreasing speed changes with the input of the control quantity.
The interference device is a wireless control relay module. The hand-held wireless remote controller can send out various signals to control the on-off of the corresponding relay on the simulation platform, and the data acquisition card is used for acquiring the on-off of the relay, so that the interference signals simulated by the remote controller can be input into the model state calculation system.
The three omni wheels are distributed around the bottom of the simulation platform at equal intervals of 120 degrees. The rotation direction and the rotation speed of each wheel are controlled through the servo motor, and the simulation platform can complete translation in each direction and rotation of the simulation platform.
The power supply system of the simulation platform adopts a combination of a lithium battery and an inverter. The lithium battery can be charged for use, is green and efficient, and meets the requirements of outdoor experiments of the system; the inverter can convert direct current into 220V alternating current, and the power supply requirements of experimental equipment such as an industrial personal computer and inertial navigation are met.
The voltage range of the lithium battery is 36V-48V, and the output waveform of the inverter is a sine wave, so that electromagnetic pollution is avoided, and interference on carried inertial navigation and GPS is avoided. Potential safety hazards can be brought by overhigh voltage, and overlarge working current can be caused by overlow voltage, so that the potential safety hazards are relatively dangerous; the output waveform of the inverter comprises square waves, sine waves and the like, and the inverter for outputting sine waves is adopted, so that the electromagnetic pollution is avoided, and the interference on the carried inertial navigation system and the GPS is avoided.
Furthermore, the simulation platform further comprises a display system arranged on the shell and used for displaying the motion information and the control information in real time.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the semi-physical simulation platform designed by the invention has a simple structure, can visually reflect the motion state of the parafoil system, can increase or reduce the number of sensors according to actual requirements, and has strong expansibility.
(2) Compared with the traditional homing control experiment scheme depending on an airdrop test, the homing control experiment method based on the parafoil model can carry out experiments on the ground at lower experiment cost on the premise of not reducing the accuracy of the parafoil model, and verify a designed homing control algorithm to a certain extent.
(3) Compared with the existing semi-physical simulation platform with fixed position, the system moves in real time, the horizontal position and the course of the system are obtained by sampling in real time in the actual moving process, and the motion state of the parafoil can be simulated better.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic view of an omni-wheel equation of motion;
FIG. 3 is a schematic block diagram of an incremental PID algorithm course control experiment;
FIG. 4 is a graph of results of a course-fixing tracking experiment;
FIG. 5 is a graph of results of a course-changing tracking experiment.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
A parafoil four-degree-of-freedom semi-physical simulation platform comprises a data acquisition system, a motion control system, an umbrella-mounted control system and a model state calculation system.
As shown in fig. 1, the platform has a housing 1, three omnidirectional wheels 3 are mounted on the outer side wall of the lower end of the housing, and the included angle between two adjacent omnidirectional wheels is 120 degrees; three servo motors 4, a motor driver 5, a lithium battery and an inverter 7 are arranged in the shell and used for driving the three omnidirectional wheels to move. An inertial navigation and GPS sensor 2 is arranged in the shell near the center of mass of the system, and a receiving device of the GPS sensor is arranged on the shell; the inside industrial computer 6 that still installs of casing, it is connected with inertial navigation and GPS sensor through the serial ports, real-time transmission measured data. And a display panel 8 is arranged outside the upper end of the shell and used for displaying the measured data in real time.
The combination of the lithium battery and the inverter is used as a power supply system of the simulation platform. The lithium battery can be charged for use, is green and efficient, and meets the requirements of outdoor experiments of the system; the inverter can convert direct current into 220V alternating current, and the power supply requirements of experimental equipment such as an industrial personal computer and inertial navigation are met. The voltage range of the lithium battery is selected to be 36V to 48V, potential safety hazards can be brought by overhigh voltage, working current is overhigh due to overlow voltage, and the danger is high; the output waveform of the inverter comprises square waves, sine waves and the like, and the inverter for outputting sine waves is adopted, so that the electromagnetic pollution is avoided, and the interference on the carried inertial navigation system and the GPS is avoided.
The data acquisition system mainly comprises inertial navigation, GPS and other sensors, and corresponding sensors can be added according to actual requirements. The GPS acquires coordinate information of the platform, and the inertial navigation acquires information of a yaw angle, an Euler angle, a roll angle, a triaxial acceleration and the like of the platform. The inertial navigation and GPS sensors are connected with an industrial personal computer through serial ports and transmit measurement data in real time. The inertial navigation system is arranged near the mass center of the system, so that the accuracy of measured data is improved, and a receiving device is required to be arranged on a shell of the GPS. When the data acquisition system analyzes the sensor data, each frame of data needs to be checked to ensure the accuracy of the read data, and filtering is performed if necessary to prevent data burrs from occurring.
The umbrella-mounted control system and the model state calculating system are both realized in an industrial personal computer. The umbrella-mounted control system is a basis for guiding the simulation platform to move, firstly, the measurement data of the data acquisition system is received, the measurement data is differed from the ideal data, and the corresponding control quantity output is obtained through iterative calculation according to a preset homing control algorithm. In different homing control algorithms, the system can select sensor data of corresponding categories as input according to algorithm requirements, and the range of control instruction output should be limited so that the control instruction output range is not more than the maximum value of the single-side pull-down amount of the parachute ropes of the parafoil. In an actual airdrop homing test, if the flight trajectory of the parafoil is corrected or the parafoil is guided to fly towards a target position, the controller needs to acquire the measurement data of the parachute-mounted sensor (namely, a data acquisition system) in real time and calculate the pull-down amount needed by the control ropes on two sides. The simulation platform is provided with inertial navigation and a GPS sensor, so that the course deviation can be calculated according to angle information given by the inertial navigation, the coordinate deviation of a track can be directly obtained according to GPS data, and the requirements of various control algorithms can be met.
The model state calculation system is the key point for enabling the simulation platform to simulate the movement characteristics of the parafoil, and has X, Y, Z axial position and four degrees of freedom of yaw angle according to a four-degree-of-freedom model building system of the parafoil. And a control instruction, namely the pull-down amount of the umbrella rope on one side is obtained from the umbrella-mounted control system, and meanwhile, an interference instruction is received from the interference device, and the control instruction and the interference instruction are used as the input of the system. And the system iterates to obtain the values of the four state quantities of the model at the next moment according to the state and the input of the previous moment. Further, it is calculated at what speed direction and magnitude the three omni wheels need to rotate in order to achieve this state, and this command is passed down to the umbrella load control system.
The interference device adopts a wireless control relay module. The hand-held wireless remote controller can send out various signals to control the on-off of the corresponding relay on the simulation platform, and the data acquisition card is used for acquiring the on-off of the relay, so that the interference signals simulated by the remote controller can be input into the model state calculation system.
The four-degree-of-freedom model state resolving system resolves the control input into the flight rules of the parafoil. The four-degree-of-freedom model is established according to a parafoil aerodynamic performance parameter relation proposed by A Rosich and P Gurfil, and specifically comprises the following steps:
the model regards the earth as a plane and is built under an earth coordinate system, wherein,
respectively representing the speeds of the parafoil system in three coordinate axis directions;
representing the rate of change of the parafoil system heading; gamma is a flight path angle and represents an included angle between the speed direction and the horizontal plane; σ represents the system tilt angle; g represents the gravitational acceleration; v represents the linear flight speed. In the parafoil four-degree-of-freedom model, a control quantity is used as an input parameter, and x, y and z-axis coordinates and a yaw angle xi in an inertial coordinate system are used as four degrees of freedom to represent state information of the parafoil, wherein the z-axis coordinate (namely height) is also used as an influence factor of other state quantities.
Wherein, the height information of the simulation platform is given as the launching height when the system is initialized. The model state solution system decreases the height with the operation of the system, and the decreasing speed changes with the input of the control quantity. The height measure at a certain time also influences the values of other parameters as an influence factor. Thus, the problem of simulating three-dimensional coordinates in a two-dimensional plane is solved.
The simulation platform is designed according to a four-degree-of-freedom model and receives the control quantity output by the umbrella-mounted control systemAnd (4) iterating the model state equation to obtain new three-axis coordinates and a yaw angle. The height is set during system initialization, decreases with model iteration, affects the calculation process of other state quantities, and solves the problem of simulating three-dimensional coordinates in a two-dimensional plane. Ground tests cannot realize remote throwing in a real-space throwing mode, and the simulation platform can adopt an equal-proportion reduction scheme to reduce the distance by N times. Reducing the glide speed in the model by N times, and reducing the corresponding three-axis coordinate change rate by N times; at the same time, according to the formula
(V' represents the glide speed, R represents the turning radius,
representing the change rate of the yaw angle), under the condition that the change rate of the yaw angle is not changed, the turning radius can be reduced by N times in a mode of reducing the glide speed, so that the problem of simulating long-distance air drop in a small-range experimental field is solved.
The motion control system comprises three omnidirectional wheels, servo motors corresponding to the wheels and drivers of the servo motors, and the translation and rotation of the whole platform can be controlled by controlling the rotation direction and speed of each omnidirectional wheel. The servo motor receives the digital instruction by using the data acquisition card and outputs a 0-10V voltage value to control the rotating speed and the direction of the motor so as to realize DA control. In the model state calculation system, the parafoil model receives the control quantity, and through iteration, corresponding changes to be made to various state quantities of the parafoil, specifically, the three-axis speed, the yaw angle change rate and the like are calculated. Furthermore, the motion equations of the three omnidirectional wheels are solved, and the flight track of the parafoil is simulated by controlling the translation and rotation of the simulation platform.
As shown in fig. 2, three omni wheels are equally spaced at 120 °, and D represents a distance from a center of the omni wheel to a center of mass of the robot. The kinematic equation for an omni wheel is:
wherein, ω is1、ω2、ω3Representing the rotational speed of three wheels, r' representing the omni-wheel radius, vxThe forward speed of the simulation platform in the body coordinate system is shown, and omega represents the rotation speed of the simulation platform in the body coordinate system. In the actual simulation experiment, v can be adjusted because the parafoil can not finish the action of lateral flightyIs set to 0.
By utilizing the simulation platform, the homing control algorithm can be correspondingly verified. In the process of homing, the parafoil often needs to adjust the heading to correct the flight path. And calculating the ideal course according to the target point and the current position information. The inertial navigation can acquire the course angle of the system in real time, and once deviation occurs, the deviation can be corrected by adopting a control algorithm.
In order to verify the effectiveness of the simulation platform design, the invention adopts an incremental PID algorithm to design a course controller, as shown in FIG. 3, the invention is a structural design block diagram of a parafoil incremental PID algorithm course control experiment, and two experiments are carried out. In two experiments, a fixed course angle and a continuously changing course angle are tracked respectively, and in the process, an infrared remote controller is used for continuously adding air volume interference to check the effectiveness of a control algorithm.
As shown in fig. 4, in the first experiment, the standard course angle is set to be 0 °, the 25 ° course deviation initially existing in the simulation platform is corrected by the algorithm, the continuously added air volume interference can also be corrected, and the controlled variable curve is smooth and easy to implement in engineering.
As shown in fig. 5, in the second experiment, the standard angle is set to be switched between 0 °, 10 °, 20 °, and 30 °, the simulation platform can track the course angle under the control of the incremental PID algorithm, the control curve is also relatively smooth, and the control amount is greatly changed only when the standard angle jumps.
The experimental results show that: the four-degree-of-freedom simulation platform for the parafoil can be used for simulating the flight state of the parafoil, verifying the effectiveness of the proposed homing control algorithm and providing an experimental basis for a real airdrop test.
Claims (3)
1. A four-degree-of-freedom semi-physical simulation platform of a parafoil is characterized in that: the system comprises a shell, a data acquisition system, a motion control system, an umbrella-mounted control system and a model state calculating system;
the data acquisition system comprises an umbrella-mounted sensor, and the umbrella-mounted sensor comprises an inertial navigation system and a GPS system which are arranged in the shell and positioned at the position of the mass center of the simulation platform; a receiving device of the GPS system is arranged on the shell, and the GPS and the inertial navigation system acquire the position and attitude information of the simulation platform;
the motion control system comprises three omnidirectional wheels arranged on the outer side of the bottom of the shell, servo motors corresponding to the omnidirectional wheels and drivers of the servo motors; the rotation direction and speed of each omnidirectional wheel are controlled through a servo motor and a driver thereof, so that translation and rotation in a two-dimensional plane are realized;
the umbrella-mounted control system is realized by an industrial personal computer, receives the measurement data of the data acquisition system, obtains corresponding control quantity according to a homing control algorithm, and outputs the control quantity to the model state resolving system;
the model state resolving system is realized by an industrial personal computer, receives a control instruction sent by the umbrella-mounted control system, receives an interference instruction from the interference device at the same time, and takes the control instruction and the interference instruction as the input of the model state resolving system; the model state calculating system iterates to obtain the value of the model state quantity at the next moment according to the state and the input of the previous moment; the moving speed direction and the steering angle of the three omnidirectional wheels are calculated to achieve the state, and the instruction is fed back to the umbrella-mounted control system to further control the movement control system; the state model solved by the model state solving system is a parafoil four-degree-of-freedom model which comprises X, Y, Z axial position coordinates and four state quantities of yaw angles; wherein, the height is also used as an influence factor to influence the values of other parameters so as to realize the simulation of three-dimensional coordinates in a two-dimensional plane;
the parafoil four-degree-of-freedom model is established according to the parafoil aerodynamic performance parameter relationship proposed by A Rosich and P Gurfil, and specifically comprises the following steps:
the parafoil four-degree-of-freedom model takes the earth surface as a plane and is established under an earth coordinate system, wherein,
respectively representing the speeds of the parafoil system in three coordinate axis directions;
representing the rate of change of the parafoil system heading; gamma is a flight path angle and represents an included angle between the speed direction and the horizontal plane; σ represents the system tilt angle; g represents the gravitational acceleration; v represents the linear flight speed; in the parafoil four-freedom-degree model, the control quantity is used as an input parameter, and x, y and z axis coordinates and a yaw angle xi in an inertial coordinate system are used as four freedom degrees to represent the state information of the parafoil;
the GPS system acquires coordinate information of the simulation platform, and the inertial navigation system acquires yaw angle, Euler angle, roll angle and triaxial acceleration information of the simulation platform;
the power supply system of the simulation platform adopts a combination of a lithium battery and an inverter; the voltage range of the lithium battery is 36V-48V, and the output waveform of the inverter is a sine wave, so that electromagnetic pollution is avoided, and interference on the carried inertial navigation system and the GPS is avoided;
the simulation platform further comprises a display system arranged on the shell and used for displaying the motion information and the control information in real time.
2. The parafoil four-degree-of-freedom semi-physical simulation platform of claim 1, which is characterized in that: the interference device is a wireless control relay module.
3. The parafoil four-degree-of-freedom semi-physical simulation platform of claim 1, which is characterized in that: the three omni wheels are distributed around the bottom of the simulation platform at equal intervals of 120 degrees.
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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 |
| 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 |
| CN111046486B (en) * | 2019-11-18 | 2022-05-03 | 西北工业大学 | Carrier rocket one-sub-stage umbrella-control recovery flight path planning method |
| CN111897362B (en) * | 2020-08-06 | 2021-07-13 | 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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