DE19704279A1 - Automatic flight control method for para-glider - Google Patents

Abstract

The method involves autonomously controlling a para-glider by device of a Fuzzy-logic control (18) for a reconnaissance of a target area and/or for dropping a load in the target area. The actual position (24) and/or the actual orientation (30) of the glider is determined and the pertinent path curve is calculated. The actual position and/or orientation is preferably compared with a nominal position (28) and/or nominal orientation, and control instructions for control lines (42) of the glider are determined from this comparison by device of the Fuzzy-logic control.

Description

The invention relates to a method for flight control a paraglider according to the preamble of claim 1.

DE 33 23 685 C2 describes a method for automatic operation Approaching submunitions from the air to moving ones in particular Ground targets are known, with the submunition of one Gliding device is worn in conjunction with one or more scanning a target area Target search sensors and one that can be influenced by them Course control facility works. In this well-known The process is the gliding approach of the Gliding facility to a destination through the Stringing together a number of gliding phases each with a limited cornering section and one include subsequent straight flight section. Within each gliding phase leads through a when locating of a target by the targeting sensor from the error angle between the sensor line of sight to the ordered target and the current glide direction signal formed Cornering section. Below is within everyone the gliding phases depend on the cornering section  on the size of the error angle after setting the new one Course in the straight flight section transferred. In Dependency on signals from the target search sensors is at Reaching a target that enables you to fight the target Approach of the gliding device the submunition activated. The gliding device is here preferably from a controllable parachute educated. The one used here Control device uses a conventional one Control technology, which is very complex because of a mathematical model of the gliding device, d. H. of controllable parachute, is required, one Quantification of external disturbances like cross wind influence, thermal buoyancy or the like is very difficult or even is impossible. Conventional regulators replace the Computational accuracy and high computing capacity Conditions.

The invention has for its object a method of to create the type mentioned above, which the Avoid defects with simple means.

This object is achieved by the features of claim 1 solved. Preferred further developments are in the Subclaims marked.

Because, according to the invention, the paraglider is autonomous is controlled by means of a fuzzy logic controller comparatively simple an exact explanation of a Target area or a precise transfer of a load possible. The target area reconnaissance can from the air z. B. using drones or from the ground, for example using measuring probes respectively. For the load to be brought to a target area  can it be replenishment and / or relief goods etc., or acting systems such as mines, bombs or the like.

In the so-called knowledge-based method used according to the invention Flight control is the current position of the Paraglider determined from the determined actual position of the Paraglider and the target the ideal trajectory calculated, d. H. carried out a course planning, and by said knowledge-based flight control, d. H. through the Fuzzy logic control, generation of control commands for the control lines of the paraglider.

Principles of fuzzy logic are, for example, in the DE-Z "spectrum der Wissenschaft ", March 1993, pages 90 to 103 described so that it is not necessary on this to go into detail. Military applications from artificial intelligence are, for example, in the DE-Z "armada International "2/1989, pages 22 to 30.

With the help of those used according to the invention Fuzzy logic control is after determining the respective actual position of the paraglider and the Destination with the help of fuzzy logic control in simple Way a compensation of external influences or actions on the paraglider such as B. a cross wind influence, a swinging of the load hanging on the paraglider etc. relatively easy, so that a precise placement the load on the paraglider is possible. In the Fuzzy logic control is not a so-called 0/1 control, but a so-called "soft logic" that not only processed the two absolute values 0 and 1, but also intermediate values or intermediate states. This are then converted back into binary data and processed further.  

According to the invention, an additional one is required Obstacle detection can be implemented. That is, for example. by means of radar sensors, laser range finders or the like possible.

Further features and advantages result from the following description of details of the Method according to the invention for flight control of a Paraglider. Show it:

Fig. 1 shows a paraglider and a flight path of the glider in a target area,

Fig. 2 shows a portion of the trajectory of a paraglider at different times,

Fig. 3 is a block diagram of the knowledge-based flight control of the paraglider, and

Fig. 4 is a diagram of the operation of the fuzzy logic controller.

Fig. 1 shows in a view from above schematically a wing 10 at the beginning of a stable flight mode and a trajectory curve 12 of the glider 10 in a target area in the target area 14 or 14. The starting position and the exit speed of the paraglider 10 are determined and an ideal trajectory of the paraglider 10 is then calculated, and the control commands for the paraglider 10 are generated. With the help of the fuzzy logic control, the trajectory curve 12 is continuously adapted to the current flight state of the paraglider 10 and to the influences such as wind or the like acting on the paraglider 10 from the outside. According to the flight strategy of the paraglider 10 , Fuzzy logic control of any trajectory curves 12 can be realized.

Fig. 2 shows a portion of a trajectory curve 12 with the glider 10 at a time t1 and at a subsequent time t2. V _GS denotes the motion vector of the paraglider 10 at time t1 and at time t2. V _K denotes the tangential vector at times t1 and t2 on the trajectory curve 12 and e denotes the angle of deposit of the paraglider 10 , ie the angle between the vectors V _GS and V _K. At time t1 θ is large and at time t2 the deposit angle θ is relatively small. With regard to the heuristics for flight control of the paraglider 10 , for example:
Tilt angle θ approximately 0 means for the fuzzy logic control "pull neither of the two control lines of the paraglider 10 ";
Deposit angle θ <0 means "pull on the right steering line";
Deposit angle θ <0 means: "pull on the left steering line".

It follows, for example, according to FIG. 4, in which the membership function Z is shown over the offset angle θ: θ ≈ 0 means zero; e approximately 180 ° means "positive large" (= PG); θ approximately -180 ° means "negatively large" (= NG). According to fuzzy logic, between "0" and "positive large" (= PG) there is still the fuzzy term "positive small" (= PK) for positive intermediate values of the filing angle θ and "negative small" (= NK) for negative intermediate values of Storage angle Θ. The corresponding rule base is modeled from this.

Fig. 3 illustrates in block 16 the corresponding fuzzy rule set according to the above-mentioned modeling of the rule base within the knowledge-based flight control of the paraglider 10 schematically indicated by block 18 , ie the fuzzy logic control used according to the invention. On the input side, the fuzzy logic controller 18 is combined with a comparator 20 and with a comparator 22 . With the comparator 20 , position sensors 24 are connected, the position signals indicated by the arrow 26 are compared with the respective position indicated by the arrow 28 ver. Correspondingly, position sensors are shown schematically in FIG. 3 by block 30 , the actual position signals indicated by arrow 32 are compared with the respective target position. The respective target position is indicated by arrow 34 .

The deposit angle Θ is subjected to fuzzification, which is illustrated by block 36 . The fuzzy rule set indicated by block 16 is processed in a fuzzy inference machine indicated by block 38 for the current input data according to block 36 . Block 40 illustrates the corresponding defuzzification. The signals thus formed are fed to the actuators 42 of the paraglider 10 , which results in a precise transfer of the paraglider 10 using structurally simple means.

In the illustration of the fuzzy logic controller 18 , only the deposit angle le is indicated as an input variable of the fuzzy system. In the practical implementation of the control, however, further input variables, such as. B. the temporal change in the storage angle, the deviations from the target position and their temporal Ablei device, as well as the prevailing at the present time the wind conditions (direction and speed), be taken into account. To simplify FIG. 3, these input variables have not been shown. With the exception of the influence of wind, the variables mentioned are calculated from the output signals of the comparators 20 and 22 .

Claims (3)

1. A method for flight control of a paraglider ( 10 ) for clearing up a target area ( 14 ) and / or for bringing a load into the target area ( 14 ), characterized in that the paraglider ( 10 ) autonomously by means of a fuzzy logic controller ( 18 ) is controlled. 2. The method according to claim 1, characterized in that the actual position ( 24 ) and / or the actual position ( 30 ) of the paraglider ( 10 ) is determined and the associated trajectory ( 12 ) is calculated. 3. The method according to claim 1 and 2, characterized in that the actual position ( 24 ) with the respective target position ( 28 ) and / or the actual position ( 30 ) with the respective target position ( 34 ) is compared and from this comparison, control commands for the control lines ( 42 ) of the paraglider ( 10 ) are generated by means of the fuzzy logic control ( 18 ).