CN111880555A - 翼伞系统避障航迹规划方法和系统 - Google Patents
翼伞系统避障航迹规划方法和系统 Download PDFInfo
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- CN111880555A CN111880555A CN202010585210.7A CN202010585210A CN111880555A CN 111880555 A CN111880555 A CN 111880555A CN 202010585210 A CN202010585210 A CN 202010585210A CN 111880555 A CN111880555 A CN 111880555A
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- 238000000034 method Methods 0.000 title claims abstract description 69
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
序号 | 归航方式 | 距离偏差 | 逆风误差 | 能量消耗 | 目标总值 |
1 | 遗传分段 | 1.34e-05 | 0 | 1.8521 | 7.4083 |
2 | 伪谱最优 | 0 | 0 | 0.1976 | 0.7904 |
3 | 最优分段 | 0.2727 | 0.0015 | 0.0706 | 0.3092 |
4 | 避障伪谱最优 | 0 | 0 | 0.4438 | 1.7753 |
5 | 避障最优分段 | 0.4832 | 3.8423e-04 | 0.1105 | 0.4528 |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112923904A (zh) * | 2021-01-26 | 2021-06-08 | 四川融鑫信息科技有限公司 | 面向多无人机协同摄影测量的地质灾害隐患探测方法 |
CN114355777A (zh) * | 2022-01-06 | 2022-04-15 | 浙江大学 | 一种基于分布式压力传感器与分段姿态控制的动态滑翔方法及系统 |
CN115079724A (zh) * | 2022-08-22 | 2022-09-20 | 中国人民解放军国防科技大学 | 一种单架次多目标点的翼伞空投任务规划方法 |
CN115291504A (zh) * | 2022-05-30 | 2022-11-04 | 国家超级计算无锡中心 | 基于末端误差的火箭子级回收着陆段动力下降制导方法 |
CN116485043A (zh) * | 2023-06-19 | 2023-07-25 | 中国人民解放军国防科技大学 | 一种翼伞集群系统归航多目标优化方法 |
CN116520883A (zh) * | 2023-05-11 | 2023-08-01 | 南京航空航天大学 | 一种复杂空域环境下翼伞系统归航轨迹规划方法 |
CN116700308A (zh) * | 2023-06-15 | 2023-09-05 | 南京航空航天大学 | 基于粒子群优化算法的翼伞系统分段归航轨迹规划方法 |
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CN103529851A (zh) * | 2013-10-29 | 2014-01-22 | 航宇救生装备有限公司 | 一种细分分段的翼伞归航控制方法 |
CN109858106A (zh) * | 2019-01-11 | 2019-06-07 | 南京航空航天大学 | 基于高斯伪谱法的飞行器小翼伸缩量优化方法 |
CN111077902A (zh) * | 2019-12-04 | 2020-04-28 | 淮阴工学院 | 基于虚拟结构的多翼伞协同编队控制方法和控制系统 |
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CN103529851A (zh) * | 2013-10-29 | 2014-01-22 | 航宇救生装备有限公司 | 一种细分分段的翼伞归航控制方法 |
CN109858106A (zh) * | 2019-01-11 | 2019-06-07 | 南京航空航天大学 | 基于高斯伪谱法的飞行器小翼伸缩量优化方法 |
CN111077902A (zh) * | 2019-12-04 | 2020-04-28 | 淮阴工学院 | 基于虚拟结构的多翼伞协同编队控制方法和控制系统 |
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赵志豪等: "基于IAFSA的四自由度翼伞分段归航设计", 《火力与指挥控制》 * |
高海涛等: "基于伪谱法的翼伞系统归航轨迹容错设计", 《控制理论与应用》 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112923904A (zh) * | 2021-01-26 | 2021-06-08 | 四川融鑫信息科技有限公司 | 面向多无人机协同摄影测量的地质灾害隐患探测方法 |
CN112923904B (zh) * | 2021-01-26 | 2022-09-23 | 四川融鑫信息科技有限公司 | 面向多无人机协同摄影测量的地质灾害隐患探测方法 |
CN114355777A (zh) * | 2022-01-06 | 2022-04-15 | 浙江大学 | 一种基于分布式压力传感器与分段姿态控制的动态滑翔方法及系统 |
CN114355777B (zh) * | 2022-01-06 | 2023-10-10 | 浙江大学 | 一种基于分布式压力传感器与分段姿态控制的动态滑翔方法及系统 |
CN115291504A (zh) * | 2022-05-30 | 2022-11-04 | 国家超级计算无锡中心 | 基于末端误差的火箭子级回收着陆段动力下降制导方法 |
CN115079724A (zh) * | 2022-08-22 | 2022-09-20 | 中国人民解放军国防科技大学 | 一种单架次多目标点的翼伞空投任务规划方法 |
CN115079724B (zh) * | 2022-08-22 | 2022-11-04 | 中国人民解放军国防科技大学 | 一种单架次多目标点的翼伞空投任务规划方法 |
CN116520883A (zh) * | 2023-05-11 | 2023-08-01 | 南京航空航天大学 | 一种复杂空域环境下翼伞系统归航轨迹规划方法 |
CN116700308A (zh) * | 2023-06-15 | 2023-09-05 | 南京航空航天大学 | 基于粒子群优化算法的翼伞系统分段归航轨迹规划方法 |
CN116485043A (zh) * | 2023-06-19 | 2023-07-25 | 中国人民解放军国防科技大学 | 一种翼伞集群系统归航多目标优化方法 |
CN116485043B (zh) * | 2023-06-19 | 2023-09-01 | 中国人民解放军国防科技大学 | 一种翼伞集群系统归航多目标优化方法 |
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Application publication date: 20201103 Assignee: Shanghai Yanqiao Information Technology Co.,Ltd. Assignor: HUAIYIN INSTITUTE OF TECHNOLOGY Contract record no.: X2022980020273 Denomination of invention: Obstacle avoidance route planning method and system of parafoil system Granted publication date: 20220628 License type: Common License Record date: 20221108 |
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