CN110632944B - Parafoil autonomous homing control system for rocket booster recovery - Google Patents
Parafoil autonomous homing control system for rocket booster recovery Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/105—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for unpowered flight, e.g. glider, parachuting, forced landing
Abstract
A parafoil autonomous homing control system for rocket booster recovery is characterized in that a switching box is started to serve as an interface between the parafoil autonomous homing control system and a rocket body; after the power distribution ignition controller is powered on, each device is controlled to be powered on and initiating explosive devices are controlled to be detonated according to a certain time sequence; the homing controller runs a homing algorithm to control the flight direction of the parafoil; the positioning and orientation instrument uses double antennas to measure and position the direction, and simultaneously integrates a gyroscope and an inclination angle sensor inside; the data transmission machine is responsible for communication between the parafoil autonomous homing control system and the ground station; the servo control device comprises a motor, a driver and a transmission mechanism and is used for controlling the operation of the parafoil; the control power supply provides control power required by the whole control system; the power supply provides power electricity required by the initiating explosive device and the servo control device. The control system integrates the functions of navigation, guidance, data transmission and initiating explosive initiation, and is matched with the booster interface to form a universal parafoil autonomous homing control system applied to rocket booster recovery.
Description
Technical Field
The invention discloses an autonomous homing control system for recovery of rocket boosters, belongs to the field of recovery control of spacecrafts, and particularly relates to an autonomous homing control system for recovery of spacecrafts.
Background
The rocket booster is a small rocket engine which can quickly fly away from a launching platform and accelerate to reach a preset flying speed when a rocket is launched, the booster can be separated from a rocket body after the booster completes a task, the separated booster is in an uncontrolled free-fall state, the landing speed is high, and the landing point spread is large. The existing launching fields in China are built inland for historical reasons, and the flight paths often pass through densely populated areas. The huge impact force in the falling process of the remains of the separation body makes the rocket body possibly explode greatly; and the leakage of residual propellant in the propellant storage tank after falling to the ground also poses a great threat to the safety of people and livestock on the ground. The controllable recovery of the booster by adopting the controllable parafoil is an effective means for solving the problems of high landing speed and large landing point scattering of the booster at present. The invention designs an autonomous homing control system of a parafoil. The control system obtains the position of the control system through the positioning and orienting instrument, obtains a corresponding control strategy after the position of the control system is compared with a target point, controls the servo device and further controls the shape of the parafoil, so that the control system can realize fixed-point landing.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, a parafoil autonomous homing control system for rocket booster recovery is provided, the system reliability is improved through a positioning and orientation instrument integrating a GPS and a gyroscope compared with the prior scheme, the system reliability and the applicability are improved through a programmable triple-modular redundancy power distribution ignition controller, the integration and the generalization of the control system can be realized, the application range of the control system is enlarged, the acquisition of important parameters can be realized through an integrated monitoring module in a power supply, and important bases are provided for subsequent analysis and verification. The control system integrates the functions of navigation, guidance, data transmission and initiating explosive detonation, and is matched with the booster interface to form a universal parafoil autonomous homing control system applied to rocket booster recovery.
The technical solution of the invention is as follows:
an autonomous homing control system of a parafoil for rocket booster recovery, comprising: starting a switching box, a power distribution ignition controller, a navigation controller, a positioning and orienting instrument, a data transmission machine, a servo control device, a control power supply and a power supply;
the starting adapter box is used for receiving a rocket overall power-on instruction sent by a superior level, and controlling the power on and power off of the power distribution ignition controller according to the rocket overall power-on instruction switch; the starting adapter box is powered up before the rocket is launched, waits for receiving a power-up command of the rocket as a whole, and receives the power-up command to power up the power distribution ignition controller when the rocket booster is separated;
the power distribution ignition controller is used for controlling initiating explosive devices to explode and electrify the homing controller, the positioning and orienting instrument, the data transmission machine and the servo control device; the initiating explosive device is used for popping up the parachute bay cover, the parachute bay cover pulls out the parafoil installed in the parachute bay in the popping process, the parafoil is unfolded after being pulled out, and the initiating explosive device initiating time is calculated by a track; after the power distribution ignition controller is powered on, the homing controller, the positioning and orientation instrument and the data transmission machine are powered on firstly; the initiating explosive device detonation and the servo control device share a power supply, so that in order to avoid the influence of large current on the performance of the power supply, a time-sharing control strategy is adopted, and after the initiating explosive device detonation control is finished by the power distribution ignition controller, the servo control device is powered up;
the homing controller receives a positioning and orientation signal collected by the positioning and orientation instrument, compares and calculates the positioning and orientation signal with a target point, operates a homing program by combining a control instruction sent by a ground station, obtains a control quantity and outputs the control quantity to the servo control device, integrates the control quantity and the positioning and orientation signal, transmits the control quantity and the positioning and orientation signal to the data transmitter through a serial port, and receives the control instruction uploaded by the data transmitter;
the positioning and orientation device is internally integrated with a GPS and a gyroscope and used for providing positioning and orientation information for the homing controller;
the data transmission machine receives monitoring data sent by the homing controller and forwards the monitoring data to the ground station, and receives a control instruction sent by the ground station and forwards the control instruction to the homing controller;
the servo control device receives the control quantity sent by the navigation controller and controls the parafoil according to the control quantity;
controlling a power supply: the power supply device is used for supplying power to the starting switching box, the power distribution ignition controller, the navigation controller, the positioning and orientation instrument, the data transmitter and the servo control device;
a power supply: the monitoring device is used for supplying power to initiating explosive devices and the servo control device, and meanwhile, the monitoring module is integrated inside, so that the output current is monitored and recorded, and the follow-up analysis and calculation are facilitated.
Compared with the prior art, the invention has the advantages that:
1) The power distribution ignition controller can output a plurality of paths of ignition instructions and a plurality of paths of equipment power-on instructions, and can set ignition and equipment power-on time sequences through programs, thereby improving the flexibility and the applicability of the system. The distributor used previously is realized by a time delay relay, and once the production of the distributor is completed, the number and the time of the distributor cannot be modified.
2) The power supply required by the ignition of the initiating explosive device is integrated in the power supply, and the time-sharing control is adopted, namely the ignition of the initiating explosive device and the power-up of the servo control device are separated, so that the hidden danger caused by the simultaneous power-up of the ignition of the initiating explosive device and the servo control is avoided, the integration level of the system is improved, and the resource waste is avoided. Previous systems included a control power source, a pyrotechnic power source, and a power source.
3) The positioning and orientation device integrates the GPS and the gyroscope, the gyroscope can continue to perform the positioning function under the condition that the GPS signal is lost, and the GPS can correct the positioning error of the gyroscope, so that the positioning reliability and the positioning accuracy of the whole system are improved. The former positioning and orientation instrument only has the GPS positioning function.
4) The starting adapter box is used as an interface between a homing control system and a rocket booster, and has the main functions of: and collecting a power-on pulse instruction sent by the rocket booster to control the power-on switch of the homing control system in the starting transfer box. The function is realized by a pure hardware mode of a self-holding circuit consisting of relays. Other functions are mostly realized by collecting power-on pulse instructions through a programmable control chip of software, the software is easily interfered in a complex electromagnetic environment when the rocket is launched, meanwhile, the energy consumption of the programmable control chip is larger than that of a self-holding circuit formed by relays, and the adapter box is started to be always in a power-on state three hours before the rocket is launched, so that the energy consumption can be effectively reduced by adopting a pure hardware design idea, and the system reliability is improved.
5) The power supply is additionally provided with the current detection device to monitor the output current signal in real time, so that the power consumption condition of the servo control device can be clearly recorded, the relation between the pulling force and the turning radius is calculated, and the follow-up analysis and calculation are facilitated.
6) Compared with the prior art, the method has the advantages that the obstacle avoidance control is added in the program control, the system is prevented from flying into an obstacle avoidance area, and the system safety is improved.
Drawings
FIG. 1 is a block diagram of an autonomous homing control system of a parafoil of the present invention;
FIG. 2 is a schematic diagram of a recovery control start switch acquisition self-hold circuit of the present invention;
FIG. 3 is a schematic diagram of the power-on switch circuit of the recovery control system of the present invention;
FIG. 4 is a triple modular redundancy reliability architecture diagram of the power distribution ignition controller of the present invention;
FIG. 5 is a schematic diagram of a servo control apparatus according to the present invention;
FIG. 6 is a flow chart of the program control of the present invention;
figure 7 parafoil retrieval flight path.
Detailed Description
As shown in fig. 1, an autonomous homing control system for a parafoil for rocket booster recovery according to the present invention includes: starting a switching box, a power distribution ignition controller, a navigation controller, a positioning and orienting instrument, a data transmission machine, a servo control device, a control power supply and a power supply;
the starting transfer box is used as an interface between the parafoil autonomous homing control system and a rocket overall, and is used for receiving a rocket overall power-on command sent by a higher level and controlling the power on/off of the power distribution ignition controller according to the rocket overall power-on command; the starting adapter box is powered up before the rocket is launched, waits for receiving a power-up command of the rocket as a whole, and receives the power-up command to power up the power distribution ignition controller when the rocket booster is separated;
the power distribution ignition controller is used for controlling initiating explosive devices to explode and electrify the homing controller, the positioning and orienting instrument, the data transmission machine and the servo control device; the initiating explosive device is used for popping up the parachute bay cover, the parachute bay cover is pulled out of the parafoil installed in the parachute bay in the popping process, the parafoil is unfolded after being pulled out and bears the booster to realize the recovery of the booster, and the initiating explosive device initiating time is calculated by a track; because the positioning and orientation instrument needs sufficient time for positioning, the data transmission machine needs to communicate with a ground station to download control parameters, and the homing controller needs to enter a working state as early as possible, after the power distribution ignition controller is powered on, the homing controller, the positioning and orientation instrument and the data transmission machine are powered on; the initiating explosive device detonation and servo control device share a power supply, in order to avoid the influence of large current on the performance of the power supply, a time-sharing control strategy is adopted, and after the initiating explosive device detonation control is completed by a power distribution ignition controller, the servo control device is powered up;
the homing controller receives a positioning and orientation signal collected by the positioning and orientation instrument, compares and calculates the positioning and orientation signal with a target point, operates a homing program by combining a control instruction sent by a ground station, obtains a control quantity and outputs the control quantity to the servo control device, integrates the control quantity and the positioning and orientation signal, transmits the control quantity and the positioning and orientation signal to the data transmitter through a serial port, and receives the control instruction uploaded by the data transmitter; and the data returned to the navigation controller is downloaded to the ground station through a data transmission machine.
The positioning and orientation device is internally integrated with a GPS and a gyroscope and used for providing positioning and orientation information for the homing controller;
the data transmission machine receives monitoring data sent by the homing controller and forwards the monitoring data to the ground station, receives a control instruction sent by the ground station and forwards the control instruction to the homing controller, and the data transmission machine is responsible for communication between the parafoil autonomous homing control system and the ground station;
the servo control device receives the control quantity sent by the navigation controller and controls the parafoil according to the control quantity; the servo control device includes: the device comprises a motor, a driver and a transmission mechanism;
controlling a power supply: the power supply device is used for supplying power to the starting switching box, the power distribution ignition controller, the navigation controller, the positioning and orientation instrument, the data transmitter and the servo control device;
a power supply: the monitoring device is used for supplying power to the initiating explosive device and the servo control device, meanwhile, the monitoring module is integrated inside, monitoring and recording are carried out on output current, and follow-up analysis and calculation are facilitated.
The start-up adapter box includes: relay J1, relay J2, relay J3, relay J4, coil JRJ1, coil JRJ2, coil JRJ3, coil JRJ4, contact switch K1J1, contact switch K2J1, contact switch K1J2, contact switch K2J2, contact switch K1J3, contact switch K2J3, contact switch K1J4, and contact switch K2J4;
the coil JR and the contact switch K1 are used to form self-holding circuits ZBJ1, ZBJ2, ZBJ3, ZBJ4. The self-holding circuit schematic diagram is shown in fig. 2, and the collecting rocket overall recovery control starting switch. The contact switches K2 are combined to form a recovery control system power-on switch JK. And collecting a first rocket overall recovery control starting switch, ZBJ3 and ZBJ4, and receiving a second rocket overall recovery control starting switch, ZBJ1 and ZBJ 2. The power-on switch JK is shown in a schematic diagram in fig. 3, after K2J1 and K2J2 are connected in parallel, the power-on switch JK is connected in series with the switches after K2J3 and K2J4 are connected in parallel, and therefore the reliability of the power-on switch is improved.
The power distribution ignition controller adopts a triple modular redundancy reliability architecture, as shown in fig. 4, and comprises: the device comprises three CPU modules, an instruction module, an initiating explosive module and a connecting module;
the three CPU modules respectively and independently run the same time sequence control program, sequentially send an equipment power-on instruction and an initiating explosive device ignition instruction according to the time sequence requirement, and respectively send three control instructions, wherein the control instructions comprise: a device power-on instruction and an initiating explosive device ignition instruction; the device power-on instruction is sent to the instruction module through the connection module, and the instruction module completes the two-out-of-three logic of the three-way device power-on instruction; the initiating explosive device ignition instruction is sent to the initiating explosive device module through the connecting module, and the initiating explosive device module completes the two-out-of-three logic of the three-path initiating explosive device ignition instruction; the equipment power-on instruction is used for powering on the homing controller, the positioning and orienting instrument, the data transmission machine and the servo control device; and the initiating explosive device ignition instruction is used for controlling the initiating explosive device to detonate.
As shown in fig. 5, the servo control device includes: the device comprises a driver, a left motor, a right motor and a transmission mechanism. The driver is used for respectively driving the left motor and the right motor; the left motor is used for driving the winch to fold and unfold the control rope connected with one end of the parafoil, and the right motor is used for driving the winch to fold and unfold the control rope connected with the other end of the parafoil. The drive is embodied as a winch.
The homing controller includes: CPU module, input/output module, power module and solid-state disk.
The CPU module runs a homing algorithm to obtain a control quantity, and integrates the control quantity and the positioning and orientation signal to be used as monitoring data;
the input-output module includes: the method comprises the following steps of collecting a serial port 1, a serial port 2, a 1-path CAN bus and a plurality of IO signals; the input and output module is used for establishing communication with other equipment;
the solid-state disk is used for storing important data parameters;
the power supply module is connected with a power supply output interface of the power distribution ignition controller and supplies power to the CPU module, the input/output module and the solid-state disk;
a serial port 1 in the input/output module is connected with a positioning and orientation instrument, receives a positioning and orientation signal and forwards the signal to a CPU module, a serial port 2 in the input/output module is connected with a data transmitter, receives a control instruction sent by the data transmitter and transmits the control instruction to the CPU module, and simultaneously sends monitoring data integrated by the CPU module to the data transmitter, a 1-path CAN bus in the input/output module is connected with a servo control device, and sends a control quantity obtained by the CPU module according to a homing program to the servo control device; the CPU module runs a homing program according to various received signals, integrates various parameters into monitoring data to realize communication with a ground station, and stores the data in a solid-state disk as backup data.
As shown in fig. 7, the parafoil recovery flight path includes: a parafoil stabilizing section, a directional homing section, an obstacle avoidance flight section, a flight pin winding high section, an upwind landing section and a sparrow landing section. The control methods of the directional homing segment and the obstacle avoidance flying segment are consistent, and the difference is that the directional homing segment flies towards a target point, and the obstacle avoidance flying segment flies away from the obstacle avoidance target point. The homing controller is initialized after being powered on, is positioned at the parafoil stabilizing section at the moment, and the parafoil stabilizing section is mainly used for sending a series of recovery control instructions to pull out the brake parachute and the parafoil and implementing homing control after the parafoil is stably opened.
After the homing control starts to operate, firstly judging whether to enter an obstacle avoidance area, if so, when the parafoil is higher than H1 away from the ground, the parafoil enters an obstacle avoidance flight section and judges the ground height in real time, and when the parafoil is lower than H1 away from the ground, the parafoil enters a sparrow landing section;
if the parafoil is outside the obstacle avoidance area, when the height of the parafoil from the ground is larger than H1 and the horizontal distance from the target point is larger than R0, entering a directional homing section and controlling the flight course of the parafoil to face the target point; when the horizontal distance between the parafoil and the target point is less than R0 and the height is higher than H0, the parafoil enters a high section of the flying pin and flies around the target point, namely the flying course of the parafoil and the connecting line included angle between the parafoil and the target point are ninety degrees; when the height of the parafoil is lower than H0 and higher than H1, the parafoil enters an upwind landing segment, and the parafoil flies in the upwind at the stage, namely the heading direction of the parafoil forms an included angle of 180 degrees with the wind direction; when the height of the parafoil is lower than H1, the parafoil enters a sparrow landing section, and the parafoil is descended to fly, so that the descent speed is rapidly reduced. The control program flow chart is shown in fig. 6.
The parafoil determines the current position and course through a positioning and orientation instrument, a homing controller determines the homing stage of the parafoil at present through the comparison of the position and the target point position so as to determine the target navigation at the moment, the homing controller runs a homing algorithm, compares the difference between the parafoil course and a target course at the moment, and outputs an operation quantity to a servo system through PI regulation, and the servo system controls the lengths of control ropes on two sides of the parafoil according to the operation quantity so as to control the parafoil flight course to track the target course at the moment.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (3)
1. A parafoil autonomous homing control system for rocket booster recovery, comprising: starting a switching box, a power distribution ignition controller, a navigation controller, a positioning and orienting instrument, a data transmission machine, a servo control device, a control power supply and a power supply;
the starting adapter box is used for receiving a rocket overall power-on instruction sent by a superior level, and controlling the power on and power off of the power distribution ignition controller according to the rocket overall power-on instruction switch; the starting adapter box is powered up before the rocket is launched, waits for receiving a power-up command of the rocket assembly, and receives the power-up command to power up the power distribution ignition controller when the rocket booster is separated;
the power distribution ignition controller is used for controlling the initiating explosive device to detonate and electrify the homing controller, the positioning and orientation instrument, the data transmission machine and the servo control device; the initiating explosive device is used for popping up the parachute bay cover, the parachute bay cover pulls out the parafoil installed in the parachute bay in the popping process, the parafoil is unfolded after being pulled out, and the initiating explosive device initiating time is calculated by a track; after the power distribution ignition controller is powered on, the homing controller, the positioning and orientation instrument and the data transmission machine are powered on; the initiating explosive device detonation and the servo control device share a power supply, so that in order to avoid the influence of large current on the performance of the power supply, a time-sharing control strategy is adopted, and after the initiating explosive device detonation control is finished by the power distribution ignition controller, the servo control device is powered up;
the homing controller receives a positioning and orientation signal acquired by the positioning and orientation instrument, compares and calculates the positioning and orientation signal with a target point, operates a homing program by combining a control instruction sent by a ground station, obtains a control quantity and outputs the control quantity to the servo control device, integrates the control quantity and the positioning and orientation signal, and forwards the control quantity and the positioning and orientation signal to the data transmitter through a serial port to be used as monitoring data, and receives the control instruction uploaded by the data transmitter;
the positioning and orientation device is internally integrated with a GPS and a gyroscope and used for providing positioning and orientation information for the homing controller;
the data transmission machine receives monitoring data sent by the homing controller and forwards the monitoring data to the ground station, and receives a control instruction sent by the ground station and forwards the control instruction to the homing controller;
the servo control device receives the control quantity sent by the navigation controller and controls the parafoil according to the control quantity;
controlling a power supply: the power supply device is used for supplying power to the starting switching box, the power distribution ignition controller, the navigation controller, the positioning and orientation instrument, the data transmitter and the servo control device;
a power supply: the monitoring device is used for supplying power to the initiating explosive device and the servo control device, and meanwhile, the monitoring module is integrated inside the monitoring device to monitor and record output current so as to facilitate subsequent analysis and calculation;
the power distribution ignition controller includes: the device comprises three CPU modules, an instruction module, an initiating explosive module and a connecting module;
the three CPU modules respectively and independently run the same time sequence control program, sequentially send an equipment power-on instruction and an initiating explosive device ignition instruction according to the time sequence requirement, and respectively send three control instructions, wherein the control instructions comprise: a device power-on instruction and an initiating explosive device ignition instruction; the device power-on instruction is sent to the instruction module through the connection module, and the instruction module completes the two-out-of-three logic of the three-way device power-on instruction; the initiating explosive device ignition instruction is sent to the initiating explosive device module through the connecting module, and the initiating explosive device module completes the two-out-of-three logic of the three-path initiating explosive device ignition instruction; the equipment power-on instruction is used for powering on the homing controller, the positioning and orienting instrument, the data transmission machine and the servo control device; the initiating explosive device ignition instruction is used for controlling the initiating explosive device to detonate;
the homing controller includes: the device comprises a CPU module, an input/output module, a power supply module and a solid-state disk;
the CPU module runs a homing algorithm to obtain a control quantity, and integrates the control quantity and the positioning and orientation signal to be used as monitoring data;
the input-output module includes: collecting a serial port 1, a serial port 2, a 1-path CAN bus and a plurality of IO signals; the input and output module is used for establishing communication with other equipment;
the solid-state disk is used for storing data parameters;
the power supply module is connected with a power supply output interface of the power distribution ignition controller and supplies power to the CPU module, the input/output module and the solid-state disk;
a serial port 1 in the input/output module is connected with a positioning and orientation instrument, receives a positioning and orientation signal and forwards the signal to a CPU module, a serial port 2 in the input/output module is connected with a data transmitter, receives a control instruction sent by the data transmitter and transmits the control instruction to the CPU module, and simultaneously sends monitoring data integrated by the CPU module to the data transmitter, a 1-path CAN bus in the input/output module is connected with a servo control device, and sends a control quantity obtained by the CPU module according to a homing program to the servo control device;
parafoil recovery flight track includes: a parafoil stabilizing section, a directional homing section, an obstacle avoidance flight section, a flight pin winding high section, an upwind landing section and a sparrow landing section;
parafoil stabilizing section: the homing controller is initialized firstly after being powered on, sends a series of recovery control instructions to pull out a speed-reducing umbrella and a parafoil and implements homing control after the parafoil is stably opened, after the homing control starts to operate, the homing controller firstly judges whether to enter an obstacle avoidance area, if the homing controller is in the obstacle avoidance area, and when the parafoil is higher than H1 away from the ground, the parafoil enters an obstacle avoidance flight section; if the parafoil is outside the obstacle avoidance area, when the height of the parafoil from the ground is greater than H1 and the horizontal distance from a target point is greater than R0, entering a directional homing section;
directional homing segment: controlling the flight course of the parafoil to face a target point; when the horizontal distance from the parafoil to the target point is less than R0 and the height is higher than H0, the parafoil enters a flight pin surrounding high section;
obstacle avoidance flight section: controlling the flight course of the parafoil to fly away from the obstacle avoidance target point; the ground height is judged in real time, and when the parafoil is less than H1 away from the ground, the parafoil enters a sparrow landing section;
high section around the flying pin: the parafoil flies around the target point, namely the flight course of the parafoil forms a ninety-degree included angle with the connecting line between the parafoil and the target point; when the height of the parafoil is lower than H0 and higher than H1, the parafoil enters an upwind landing section;
a headwind landing segment: the parafoil flies against the wind, namely the heading direction of the parafoil forms an included angle of 180 degrees with the wind direction; when the height of the parafoil is lower than H1, the parafoil enters a sparrow landing section;
landing stage is descended to the sparrow: the parafoil flies in a descending way, so that the descending speed is rapidly reduced;
the parafoil determines the current position and course through the positioning and orientation instrument, the homing controller determines the homing stage of the parafoil at present through the comparison of the position and the target point position so as to determine the target navigation at the moment, the homing controller runs a homing algorithm, compares the difference between the parafoil course and the target course at the moment, and outputs an operation quantity to a servo system through PI regulation, and the servo system controls the lengths of control ropes on two sides of the parafoil according to the operation quantity so as to control the flight course of the parafoil to track the target course at any time.
2. The system of claim 1, wherein the data from the homing controller is transmitted to the ground station by a data-transfer machine.
3. The parafoil autonomous homing control system for rocket thruster recovery as claimed in claim 2, wherein said servo control means comprises: the driver, the left motor, the right motor and the transmission mechanism;
the driver is used for respectively driving the left motor and the right motor; the left motor is used for driving the winch to fold and unfold the control rope connected with one end of the parafoil, and the right motor is used for driving the winch to fold and unfold the control rope connected with the other end of the parafoil.
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| CN113859583B (en) * | 2021-09-17 | 2023-07-14 | 北京控制工程研究所 | High fault tolerance initiating explosive device control method for Mars landing process |
| CN114489117A (en) * | 2021-12-20 | 2022-05-13 | 北京空间机电研究所 | Method for realizing multi-target fixed-point recovery and obstacle avoidance of rocket booster by adopting controllable parafoil |
| CN114476142A (en) * | 2021-12-20 | 2022-05-13 | 北京空间机电研究所 | Precise parafoil recovery system and method for booster landing area safety control |
| CN116466637B (en) * | 2023-04-19 | 2024-01-12 | 东方空间技术(山东)有限公司 | Power distribution control system and method of aircraft and flight control computer |
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| CN103529851A (en) * | 2013-10-29 | 2014-01-22 | 航宇救生装备有限公司 | Finely segmented parafoil homing control method |
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