CN104503426A - Parafoil control law test commissioning platform and commissioning method - Google Patents
Parafoil control law test commissioning platform and commissioning method Download PDFInfo
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- CN104503426A CN104503426A CN201410685523.4A CN201410685523A CN104503426A CN 104503426 A CN104503426 A CN 104503426A CN 201410685523 A CN201410685523 A CN 201410685523A CN 104503426 A CN104503426 A CN 104503426A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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Abstract
The invention discloses a parafoil control law test commissioning platform and a commissioning method. The commissioning platform comprises a ground device and an air device, wherein the ground device comprises a ground commissioning station and a ground commissioning radio station; the air device comprises a control center, and an air commissioning station and a driving structure in communication connection with the control center; the air commissioning station and the ground commissioning platform are in two-way wireless communication; the air device also comprises a left-right servo mechanism; the left-right servo mechanism is connected with the driving mechanism and folding and unfolding of a left-right operation rope of the parafoil can be controlled under driving of the driving structure. Real-time commissioning can be realized; the commissioning effects can be observed in real time through trajectory of the parafoil; characteristics of real-time performance, high efficiency, intuitiveness, and reliable work can be realized; manual interference can be realized; practicality is strong; the number of air drop tests can be reduced, risks of air drop can be reduced, and the efficiency is improved.
Description
Technical field
The present invention relates to the debug platform of parafoil, particularly relate to a kind of debugging being applied to parafoil control law parameter in precision aerial delivery system, obtain the handling characteristic parameter of parafoil by limited airdrop test, complete parafoil control law experiment debugging platform and adjustment method that the adjustment that controls key parameter to the flight of parafoil determines.
Background technology
In precision aerial delivery system, parafoil is as aerodynamic decelerator flight instruments, makes full use of its gliding ability, navigability energy, sparrow fall performance and realize long distance and can handle flight, finally complete fixed point precision landing.
Because parafoil self structure is flexible flight system, flight controls the impact by many factors such as displacement characteristic, extraneous meteorological conditions, and the umbrella shape of parafoil is different, area is different, and its kinetic characteristic all has larger difference.Because parafoil is flexible flight system, its characteristic is affected by the external environment, and particularly the impact of wind field is comparatively large, is that dynamics simulation or ground simulation test all cannot obtain kinetic characteristic parameter accurately, therefore, paragliding control law parameter-dependent airdrop test adjusts ginseng to determine.
The test of airdrop test particularly weight equipment is put to the test and organizes and coordinates the reasons such as complexity, testing expenses are high, empirical risk is large with machine, meteorology, the multiple conditionality of dropping ground geographical environment, in addition airdrop test, can only carry out a small amount of verification experimental verification.But parafoil control law parameter relates to the multiple parameters such as radius of turn, turning angle speed under the gliding speed of parafoil, decline rate, different manipulated variable, a large amount of airdrop tests is usually needed to get parms.Therefore, at present by limited airdrop test complete parafoil control law tune ginseng be difficult to.
Summary of the invention
The technical problem to be solved in the present invention is to be subject to multiple conditionality in prior art, the defect of the tune ginseng of parafoil control law cannot be completed by limited airdrop test, there is provided a kind of and obtain the handling characteristic parameter of parafoil by limited airdrop test, complete parafoil control law experiment debugging platform and adjustment method that the adjustment that controls key parameter to the flight of parafoil determines.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of parafoil control law experiment debugging platform is provided, comprises uphole equipment and aerial device, wherein:
Uphole equipment comprises ground tune-up center and debugging radio station, ground;
Aerial device comprises control center, and the aerial debugging radio station all communicated to connect with this control center and drives structure, and aerial debugging radio station and ground debug platform carry out bidirectional wireless communication; This aerial device also comprises left and right servo control mechanism, and left and right servo control mechanism is connected with drives structure, controls the folding and unfolding of parafoil left and right control wire under the driving of drives structure;
Debugging configuration parameter to be uploaded to by debugging radio station, ground and to debug radio station in the air by ground tune-up center; Control center is according to preset control law and the flight being controlled parafoil by the debugging configuration parameter that aerial debugging radio station obtains, drives structure and left and right servo control mechanism are according to the instruction of control center, complete being involved in or discharging of parafoil control wire, thus control the heading of parafoil;
In paragliding process, control center's receiving satellite signal, obtains the skyborne positional information of parafoil, and sends the data to ground tune-up center by aerial debugging radio station, by the skyborne flight path of ground tune-up center display parafoil.
In parafoil control law experiment debugging platform of the present invention, described aerial device is integrated in control box.
In parafoil control law experiment debugging platform of the present invention, described debugging configuration parameter comprises ratio, integration, the differential coefficient that PID controls, the internal diameter spiraled and external diameter, the height spiraled, the height of brake, the manipulation value under each crab angle, the extreme value of manipulated variable and manipulated variable of spiraling.
In parafoil control law experiment debugging platform of the present invention, control center comprises microprocessor and satellite receiver; Drives structure comprises drive amplification circuit and high power DC relay; Left and right servo control mechanism comprises direct current drive mechanism and reduction gear.
Present invention also offers a kind of parafoil control law test adjustment method, comprise the following steps:
Step 1 tentatively tests the main movement characterisitic parameter of parafoil:
The first step: after system air-drop, under parafoil launches to enter full glide state, now by horizontal velocity and the decline rate of control center's test parafoil gliding flight;
Second step: ground tune-up center uploads steering order, to parafoil left and right control wire drop-down default multiple manipulated variables respectively, under testing each manipulated variable, parafoil rotates the time of a circle and the radius of rotation, and revolves the height and turning rate that turn around and decline;
3rd step: ground tune-up center uploads steering order, to parafoil bilateral control wire respectively drop-down default multiple manipulated variables, tests decline rate and the falling head of parafoil under different manipulated variable;
The preset control law of step 2:
According to the parafoil kinetic characteristic parameter obtained, use the method for designing of PID controller, the initial value of preset paragliding control law parameter, the key parameter of the classification amount of different crab angle lower-pilot amount, turn circle radius and the height that spirals is set as configurable parameter;
Step 3 airdrop test adjusts ginseng process:
The first step: control center controls the heading of parafoil according to preset control law, and reaches ground tune-up center by under the movement locus of parafoil in real time, the movement locus that tune-up center display parafoil is current;
Second step: observe parafoil movement locus by ground tune-up center, contrast with ideal trajectory, finding out affects parafoil and to move the key parameter departed from;
3rd step: amendment parameter, rebinds parafoil control law parameter, is uploaded to control center by debugging radio station;
4th step: control center, according to the control law parameter reconfigured, controls paragliding direction, and passes current kinetic track down;
Repeated execution of steps 3, determines parafoil control law key parameter.
In method of the present invention, in step 1, " to parafoil left and right control wire drop-down default multiple manipulated variables respectively " are specially: to the parafoil left and right control wire drop-down manipulated variable of 25%, 50%, 75%, 100% respectively;
" to parafoil bilateral control wire drop-down default multiple manipulated variables respectively " are specially: to the parafoil bilateral control wire drop-down manipulated variable of 25%, 50%, 75%, 100% respectively.
The beneficial effect that the present invention produces is: the present invention adopts debug platform to complete the tune ginseng of parafoil control law, can be applicable to different airfoil profiles, the debugging of control law parameter of parafoil of different area determines.This debug platform can realize real-time debug, by parafoil track Real Time Observation debugging effect, has feature that is real-time, efficient, directly perceived, reliable operation, can also manual intervention be realized, practical, the quantity of airdrop test can be reduced, reduce the risk of air-drop, raise the efficiency.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 a is the schematic diagram of aerial parafoil;
Fig. 1 b is parafoil control law experiment debugging platform operating diagram;
Fig. 2 is parafoil control law experiment debugging platform composition diagram;
Fig. 3 is ground tune-up center parafoil movement locus monitoring legend.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention adopts parafoil control law experiment debugging platform to complete the debugging of paragliding control law key parameter.As illustrated in figs. ia and ib, this debug platform comprises uphole equipment and aerial device.Uphole equipment comprises ground tune-up center and debugging radio station, ground.Aerial device comprises control center, and the aerial debugging radio station all communicated to connect with this control center and drives structure, and aerial debugging radio station and ground debug platform carry out bidirectional wireless communication; This aerial device also comprises left and right servo control mechanism, and left and right servo control mechanism is connected with drives structure, controls the folding and unfolding of parafoil left and right control wire under the driving of drives structure.
Ground tune-up center can show the skyborne flight status parameter of parafoil and flight path in real time, and in addition, parafoil control law parameter configuration is bound by ground tune-up center, is uploaded to aerial control center by debugging radio station, ground.Two debugging radio station complete the downstream transmission of tuning parameter, parafoil information; Control center completes the skyborne real-time location of paraglider system, calculates navigational parameter, according to the state of flight of the control law state modulator parafoil after adjustment; Drive servo control mechanism complete being involved in of parafoil control wire according to steering order or discharge, change paragliding direction.
Debugging radio station, ground and aerial debugging radio station adopt duplexing data radio station, and meet the requirement of data double-way wireless transmission, data transmission distance is not less than 20km.Ground tune-up center can adopt portable laptop computers, runs the ground debugging software under windows operating system, for monitoring and the debugging of aerial paraglider system.Control center can adopt the microprocessor of high computing to be core, includes satellite receiver, completes the biography down of the data such as location, parafoil motion state of the control of parafoil, paraglider system.In the embodiment of the present invention, drives structure can be made box-like, drives structure box includes drive amplification circuit and high power DC relay, receives the motor port control command that control center sends, drives adhesive or the release of corresponding relay; Servo control mechanism comprises motor drive mechanism and winch reductor device, and drives structure box repeat circuit controls the rotation of servo control mechanism motor drive mechanism; Parafoil control wire is divided into left side, two, right side control wire, and two groups, left and right servo control mechanism controls the folding and unfolding of two control wires in left and right respectively.
As shown in Figure 2, the up-downgoing wireless transmission that radio station completes data is debugged; Ground tune-up center completes the configuration of tuning parameter and uploads, and shows the skyborne sporting flying track of parafoil; Control center is according to the parameter of preset control law and configuration, and the flight completing parafoil controls, and receiving satellite signal, obtain the skyborne positional information of parafoil; Drives structure and left and right servo control mechanism, according to the instruction of control center, complete being involved in or discharging of parafoil control wire, thus control the heading of parafoil.
Wherein, the parameter of configuration comprises: ratio, integration, differential coefficient that PID controls; The internal diameter spiraled, external diameter; The height spiraled; The height of brake; Manipulation value under each crab angle; The extreme value of manipulated variable; To spiral manipulated variable etc.
Parafoil control law experiment debugging platform workflow is as follows:
(1) the main movement characterisitic parameter of preliminary test parafoil, before namely airdrop test adjusts ginseng, first carries out the test of parafoil kinetic characteristic parameter, determines the initial value of parafoil control law parameter:
The first step: after system air-drop, under parafoil launches to enter full glide state, now by horizontal velocity and the decline rate of control center's test parafoil gliding flight.
Second step: ground tune-up center uploads steering order, respectively to parafoil left and right control wire drop-down as 25%, 50%, 75%, 100% manipulated variable, under testing each manipulated variable, parafoil rotates the time of a circle, the radius of rotation, revolves the height, the turning rate that turn around and decline.
3rd step: ground tune-up center uploads steering order, respectively to parafoil bilateral control wire drop-down as 25%, 50%, 75%, 100% manipulated variable, test decline rate, the falling head of parafoil under different manipulated variable.
Test the rear initial value determining control law parameter.
(2) preset control law:
According to the parafoil kinetic characteristic parameter obtained, use the method for designing of PID controller, the initial value of preset paragliding control law parameter, is set as configurable parameter by classification amount, the turn circle radius of different crab angle lower-pilot amount, the key parameters such as height that spiral.Configurable parameter mainly comprises: the radius RMA/RMI that height H Q, the COEFFICIENT K P/KI/KD of PID controller that manipulated variable LQ, brake or sparrow fall fall in the maximum manipulated variable LM of parafoil, brake or sparrow, parafoil spirals, the separation δ of altitude range HR, target-seeking flight, the size L δ every manipulated variable.
(3) airdrop test adjusts ginseng process:
The first step: after air-drop, control center's receiving satellite signal, implements aerial location, according to the result of location to paraglider system, carry out the control in paragliding direction according to pre-configured control law parameter, and reach ground tune-up center by under skyborne for parafoil movement locus.
Second step: the current movement locus of tune-up center display parafoil observes parafoil movement locus by ground tune-up center, as shown in Figure 3, contrasts with ideal trajectory, finding out affects parafoil and to move the key parameter departed from.
3rd step: timely modification parameter, revises again to parafoil control law parameter, is uploaded to control center by debugging radio station.
4th step: control center, according to the control law parameter reconfigured, controls paragliding direction, and passes current kinetic track down.
(4) repeat above-mentioned steps (3), perform repeatedly, parafoil control law key parameter can be determined.
After control center receives the control law parameter of renewal, according to the control law after current renewal, flight is carried out to parafoil and control.Ground tune-up center obtains paragliding track, gradually corrected parameter, approach ideal trajectory gradually, finally obtain desirable control law parameter.
The present invention adopts debug platform to complete the tune ginseng of parafoil control law, can be applicable to different airfoil profiles, the debugging of control law parameter of parafoil of different area determines.This debug platform can realize real-time debug, by parafoil track Real Time Observation debugging effect, has feature that is real-time, efficient, directly perceived, reliable operation, can also manual intervention be realized, practical, the quantity of airdrop test can be reduced, reduce the risk of air-drop, raise the efficiency.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (6)
1. a parafoil control law experiment debugging platform, is characterized in that, comprises uphole equipment and aerial device, wherein:
Uphole equipment comprises ground tune-up center and debugging radio station, ground;
Aerial device comprises control center, and the aerial debugging radio station all communicated to connect with this control center and drives structure, and aerial debugging radio station and ground debug platform carry out bidirectional wireless communication; This aerial device also comprises left and right servo control mechanism, and left and right servo control mechanism is connected with drives structure, controls the folding and unfolding of parafoil left and right control wire under the driving of drives structure;
Debugging configuration parameter to be uploaded to by debugging radio station, ground and to debug radio station in the air by ground tune-up center; Control center is according to preset control law and the flight being controlled parafoil by the debugging configuration parameter that aerial debugging radio station obtains, drives structure and left and right servo control mechanism are according to the instruction of control center, complete being involved in or discharging of parafoil control wire, thus control the heading of parafoil;
In paragliding process, control center's receiving satellite signal, obtains the skyborne positional information of parafoil, and sends the data to ground tune-up center by aerial debugging radio station, by the skyborne flight path of ground tune-up center display parafoil.
2. parafoil control law experiment debugging platform according to claim 1, it is characterized in that, described aerial device is integrated in control box.
3. parafoil control law experiment debugging platform according to claim 1, it is characterized in that, described debugging configuration parameter comprises ratio, integration, the differential coefficient that PID controls, the internal diameter spiraled and external diameter, the height spiraled, the height of brake, the manipulation value under each crab angle, the extreme value of manipulated variable and manipulated variable of spiraling.
4. parafoil control law experiment debugging platform according to claim 1, it is characterized in that, control center comprises microprocessor and satellite receiver; Drives structure comprises drive amplification circuit and high power DC relay; Left and right servo control mechanism comprises direct current drive mechanism and reduction gear.
5., based on a parafoil control law test adjustment method for claim 1, it is characterized in that, comprise the following steps:
Step 1 tentatively tests the main movement characterisitic parameter of parafoil:
The first step: after system air-drop, under parafoil launches to enter full glide state, now by horizontal velocity and the decline rate of control center's test parafoil gliding flight;
Second step: ground tune-up center uploads steering order, to parafoil left and right control wire drop-down default multiple manipulated variables respectively, under testing each manipulated variable, parafoil rotates the time of a circle and the radius of rotation, and revolves the height and turning rate that turn around and decline;
3rd step: ground tune-up center uploads steering order, to parafoil bilateral control wire respectively drop-down default multiple manipulated variables, tests decline rate and the falling head of parafoil under different manipulated variable;
The preset control law of step 2:
According to the parafoil kinetic characteristic parameter obtained, use the method for designing of PID controller, the initial value of preset paragliding control law parameter, the key parameter of the classification amount of different crab angle lower-pilot amount, turn circle radius and the height that spirals is set as configurable parameter;
Step 3 airdrop test adjusts ginseng process:
The first step: control center controls the heading of parafoil according to preset control law, and reaches ground tune-up center by under the movement locus of parafoil in real time, the movement locus that tune-up center display parafoil is current;
Second step: observe parafoil movement locus by ground tune-up center, contrast with ideal trajectory, finding out affects parafoil and to move the key parameter departed from;
3rd step: amendment parameter, rebinds parafoil control law parameter, is uploaded to control center by debugging radio station;
4th step: control center, according to the control law parameter reconfigured, controls paragliding direction, and passes current kinetic track down;
Repeated execution of steps 3, determines parafoil control law key parameter.
6. adjustment method according to claim 5, is characterized in that, in step 1, " to parafoil left and right control wire drop-down default multiple manipulated variables respectively " are specially: to the parafoil left and right control wire drop-down manipulated variable of 25%, 50%, 75%, 100% respectively;
" to parafoil bilateral control wire drop-down default multiple manipulated variables respectively " are specially: to the parafoil bilateral control wire drop-down manipulated variable of 25%, 50%, 75%, 100% respectively.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104881363A (en) * | 2015-06-24 | 2015-09-02 | 中国航空工业集团公司西安飞机设计研究所 | Test method for control law software |
| CN106325296A (en) * | 2016-08-29 | 2017-01-11 | 航宇救生装备有限公司 | Ground monitoring software for precise airdrop system |
| CN107121940A (en) * | 2017-05-27 | 2017-09-01 | 南京航空航天大学 | A kind of parafoil four-degree-of-freedom semi-physical emulation platform |
| 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 |
| CN112254919A (en) * | 2020-10-16 | 2021-01-22 | 航宇救生装备有限公司 | Wind tunnel test device for aerodynamic characteristics and manipulation characteristics of flexible parafoil |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104881363A (en) * | 2015-06-24 | 2015-09-02 | 中国航空工业集团公司西安飞机设计研究所 | Test method for control law software |
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| CN112254919A (en) * | 2020-10-16 | 2021-01-22 | 航宇救生装备有限公司 | Wind tunnel test device for aerodynamic characteristics and manipulation characteristics of flexible parafoil |
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