CN114740762A - Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy - Google Patents
Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy Download PDFInfo
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Abstract
The invention provides a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy, which relates to the field of unmanned aerial vehicle flight control.A 8-DOF parafoil dynamic model can effectively simulate the flight state of an actual parafoil system, the model parameters are easy to correct, and information such as a sliding-down ratio, a turning radius and the like can be compared with the actual flight environment; the flight control algorithm based on ADRC decoupling is realized by a hardware controller, and the precision of trajectory tracking can be effectively improved by a coupling compensation method. The PC and the hardware controller are communicated through an RS232 serial port. The control method based on ADRC decoupling can effectively overcome the coupling effect of the system and improve the anti-interference performance and the track tracking precision. The power parafoil provided by the invention supports ground take-off and landing, has low requirements on experimental conditions and strong repeatability, is convenient for parameter adjustment, and shortens the research and development period.
Description
Technical Field
The invention relates to the field of flight control of unmanned aerial vehicles, in particular to a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy.
Background
The parafoil system is widely used in aerospace, military and civil fields because of its good gliding performance, stability and good handling performance. Particularly in the field of aircraft recovery in China, the conventional aviation recovery uses circular umbrellas, the landing points are random, and the booster of the Long-March type III B carrier rocket automatically navigates through a large parafoil system for the first time and realizes accurate fixed-point recovery, which has a certain lead in the field of international aircraft recovery.
However, such unpowered parafoil systems are often very expensive in early experiments, because the parafoil systems are required to be taken high above the air by an airplane or a hot air balloon in an airdrop test, and the combined action of various factors and interference of weather factors causes a severe challenge to research work on the parafoil systems.
A power parafoil is an umbrella-wing aircraft with a power device as the name suggests, and is an unmanned aircraft flying by virtue of the lift force generated by the parafoil inflating in the windward direction and the thrust generated by a propeller. The small-sized power parafoil system can realize ground take-off and landing under the condition of no assistance or little assistance, and can realize steering operation by pulling a brake rope connected with the trailing edge of the flap. A small-sized power parafoil which is reduced by a large parafoil in a same ratio can well verify the effectiveness and feasibility of a track tracking control algorithm in the initial stage of an experiment, and the development period is greatly shortened.
Powered parafoils have many advantages as a class of flexible wing aircraft, but also have significant disadvantages. The parafoil is made of flexible materials, rigidity is formed by windward inflation, and a lift force is formed by utilizing a pressure difference generated between an upper wing surface and a lower wing surface. The umbrella head is connected with the load through a plurality of umbrella ropes, but the connection cannot be regarded as rigid connection, because the umbrella shape can be changed by the changes of meteorological conditions and self motion postures, and in addition, relative motion exists between the umbrella head and the load, so that the parafoil system has strong nonlinear characteristics and more complex cross coupling characteristics.
There are many methods for nonlinear system control, but these methods tend to rely more on the model itself. The complexity of the power parafoil system model is relatively high, and besides three degrees of freedom of the parachute body and the load, the relative pitching and the relative yawing motion between the parachute body and the load must be considered, so that accurate model information is difficult to apply to a control algorithm. The traditional pid control does not depend on model information, is simple to use but has low adjustment precision and low anti-interference performance. Therefore, a control algorithm with high noise immunity and high accuracy is desired.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy.
The invention is realized by the following technical scheme: a semi-physical simulation system of a power parafoil based on an active disturbance rejection decoupling control strategy is characterized by comprising a control algorithm based on ADRC decoupling and an 8-DOF parafoil system dynamic model realized by Matlab software at a PC (personal computer), wherein the control algorithm based on the ADRC decoupling is executed by a flight controller in a hardware platform and transmits control quantity calculated by the flight controller to the 8-DOF parafoil system dynamic model through an RS232 serial port, and the flight controller divides the whole hardware platform into seven modules through a lightweight real-time operating system mu C/OS-III, and comprises a starting module, a file storage module for storing information, a ground station interaction module, a GPS (global positioning system) acquisition module for reading parafoil information, a control quantity transmission module, a control quantity calculation module and a mode switching module.
According to the technical scheme, preferably, the file storage module stores information through an SD card, the mode switching module switches the flight mode through a remote controller and a receiver, the GPS acquisition module is respectively connected with the PC end and the GPS module, and the control quantity transmission task is respectively connected with the bottom layer execution mechanism and the PC end.
According to the technical scheme, preferably, the 8-DOF parafoil kinetic model is established based on a lagrangian method and kinetic constraint, and is specifically described as follows:
wherein the subscript
Representing a load coordinate system, subscripts
Representing a parafoil coordinate system; upper label
、
、
、
Respectively represent aerodynamic force, gravity, umbrella rope pulling force and pushing force,
and
representing velocity and angular velocity, respectively;
and
representing the force and the moment, respectively,
and
representing momentum and moment of momentum, respectively, as defined below:
wherein,
is a matrix of the moment of inertia of the load,
is a true mass matrix of the parafoil,
is an additional mass matrix of the parafoil,
mid-point of two connection points of parafoil and load
Velocity of the earth in the geodetic coordinate system
Is fixed, there is therefore a speed constraint:
wherein,
、
respectively representing the parafoil centroid and the load centroid to the midpoint
The distance vector of (a) is calculated,
relative pitching and relative yawing motion exists between the load and the parafoil for a coordinate system transformation matrix, and an angular velocity constraint relation is obtained:
in the formula,
、
representing relative pitch angle and relative yaw angle, respectively, and taking state variables
To obtain a shape as
The parafoil system dynamics model of (1).
According to the above technical solution, preferably, the control algorithm based on ADRC decoupling specifically includes a transverse trajectory tracking controller and a longitudinal height controller,
(1) in the lateral controller, the single-side flap down-deviation is a control output, the error between the yaw angle of the parafoil system and the set yaw angle is used as a control input, when the tracking is stable, the lateral tracking error converges to zero, and the current yaw angle of the parafoil system is expressed in the form of a second order differential:
wherein
Representing yaw angle，
To indicate the unknown disturbance,
indicating the amount of one-sided flap downshifting,
the amount of the output of the thrust force is represented,
which represents the gain of the input, is,
representing the lateral coupling coefficient, the above equation can be rewritten as:
wherein
Is the equivalent input gain of the input of the amplifier,
，
the above equation can be rewritten as a form of the expanded state space, as a full disturbance including a system disturbance and an external disturbance:
will be provided with
The complement is in an extended state and the state,
the angle of yaw is represented as the angle of yaw,
is a disturbance
The first order differential of the method is used for constructing an extended state observer to solve unknown disturbance
And (3) carrying out real-time observation, wherein a third-order extended state observer based on coupling compensation is constructed as follows:
wherein,
which represents the state that is being estimated and,
，
is the output quantity that is to be observed,
the gain vector of the observer is used, and accordingly, the transverse decoupling control rate can be constructed:
wherein,
is a parameter of the controller that is,coupling coefficient of lateral controller
The definition is as follows:
wherein,
，
，
are parameters in the matrix of additional quality,
，
respectively defined as the velocity and angular velocity of the parafoil system,
respectively showing a roll angle, a pitch angle, and a yaw angle. Subscript
Representing an umbrella body coordinate system; subscript
Representing a relative coordinate system;
(2) in the longitudinal height controller, the design idea is similar to that of a transverse controller, a parafoil height control object is regarded as a second-order system,
wherein,
representing altitude, the non-linear characteristics of the system and external disturbances being regarded as
，
Which represents the coefficient of longitudinal coupling,
the gain of the input in the longitudinal direction is represented,
representing the longitudinal thrust output, constructing an extended state observer:
here, ,
which represents the state that is being estimated and,
is the output quantity that is to be observed,
is the gain vector of the observer, the improved longitudinal decoupling control rate:
The utility model provides a power parafoil hardware experiment platform, including the umbrella body and load mechanism, the umbrella body is including the umbrella head that two upper and lower airfoil are constituteed, the umbrella rope, suspender and brake rope, the centre of umbrella head is equipped with a plurality of air chambers that separate, and the front edge of umbrella head is equipped with the opening, the trailing edge is sealed, the end of umbrella rope is preceding with the umbrella head, the trailing edge links to each other, the brake rope links to each other with the trailing edge both sides of umbrella head, load mechanism includes the load case, be located the foaming wheel of load bottom of the case portion and be located the protective frame of load case side, the both sides of load case are passed through the connecting rod and are linked to each other with parachute rope and suspender, the side is equipped with the rocking arm that links to each other with the brake rope, inside has set gradually the outer storehouse from top to bottom, control storehouse and battery storehouse, be equipped with screw and brushless motor in the protective frame, the rocking arm links to each other with the outer storehouse.
According to the technical scheme, preferably, the peripheral cabin is internally provided with a GPS, a wireless data transmission device, a receiver and a steering engine, the control cabin is internally provided with a flight controller for executing an ADRC decoupling control algorithm, and the battery cabin is internally provided with a 10000mhA XT90 female lithium battery and a boat-shaped switch.
According to the technical scheme, preferably, the whole flight controller is a cube, the outer surface of the flight controller is provided with the aviation plug, the power socket and the two LED lamps, the aviation plugs are sequentially provided with three plugs from left to right and are respectively used for reading signals of the receiver, connecting wireless data transmission and connecting a GPS module, and the two LED lamps are respectively red and green and are all located above the aviation plugs.
The invention has the beneficial effects that: the dynamic parafoil semi-physical simulation system is simple in structure and easy to disassemble, and hardware equipment used in a simulation environment is consistent with an actual flight environment; the 8-DOF parafoil dynamic model constructed by MATLAB can better match the aerodynamic performance of the parachute, the model parameters are easy to correct, and information such as a sliding-down ratio, a turning radius and the like can be compared with an actual flight environment; when the power parafoil semi-physical simulation system executes an actual flight test, the ground take-off and landing can be realized under the condition of no assistance of people or less assistance of people, the safety is high, and the operation is easy; the small-sized power parafoil with the same scaled down version can be used as the preliminary verification of a large-sized space recovery parafoil, is convenient for replacing different control algorithms, verifies the effectiveness of the control algorithms, has remarkable advantages in the aspect of parameter adjustment of a controller, and has the advantages of repeatability utilization, short verification period and strong universality; the winged umbrella system flight controller is internally provided with a file storage unit, so that the pose information and the control information of the winged umbrella system can be recorded in real time, and the later data analysis and processing are facilitated; the parameter information of the model can be effectively utilized based on ADRC decoupling, the structure is clear, the problem of strong coupling between transverse control and longitudinal control of the parafoil system is solved, and the anti-interference capability is strong.
Drawings
FIG. 1 is a schematic block diagram of a power parafoil semi-physical simulation system;
FIG. 2 is a main frame structure of a power parafoil system hardware platform;
FIG. 3 is a view of the configuration of the flight controller of the power parafoil;
figure 4 is a controller schematic based on ADRC decoupling,
fig. 5 is a graph of flight experiment results.
In the figure: 1. an umbrella head; 2. a brake rope; 3. an umbrella rope; 4. a protective frame; 5. a propeller; 6. a sling; 7. a steering engine; 8. a rocker arm; 9. a foaming wheel; 10. a connecting rod; 11. an external storage; 12. a control bin; 13. a battery compartment; 14. an LED lamp; 15. an aviation plug; 16. an electric outlet.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.
As shown in figure 1, the invention provides a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy, which is characterized by comprising a control algorithm based on ADRC decoupling and an 8-DOF parafoil system dynamics model realized by Matlab software at a PC end, wherein the control algorithm based on the ADRC decoupling is executed by a flight controller in a hardware platform, and transmits a control quantity calculated by the flight controller to the 8-DOF parafoil system dynamics model through an RS232 serial port, and the flight controller divides the whole hardware platform into seven modules through a lightweight real-time operating system mu C/OS-III, wherein each module comprises a starting module, a file storage module for storing information, a ground station interaction module, a GPS (global positioning system) acquisition module for reading parafoil information, a control quantity transmission module, a control quantity calculation module and a mode switching module.
The 8-DOF parafoil system dynamic model basically conforms to the motion state of an actual parafoil system by considering the relative pitching and relative yawing motions between the parachute body and the load. Meanwhile, the motion trail and the corresponding control quantity of the system can be displayed in real time in the simulation process, and the effectiveness of the control scheme can be judged more visually. The 8-DOF parafoil system dynamics model in the PC machine corresponds the control quantity to the flap lower deflection and the thrust and transmits new system pose information to the flight controller through the RS232 serial port to calculate the control quantity, and the generated control quantity can change the pneumatic performance of the model system, so that the track tracking control is realized. In addition, the communication is carried out through the RS232 serial port, an external level conversion module is not needed, and the communication is stable. The method has the advantages of remarkable control parameter adjustment, repeatability utilization and short verification period.
The ADRC decoupling control algorithm is to regard a parafoil system as a transverse and longitudinal two-order system which are mutually coupled, then establish a three-order extended state observer to observe internal and external disturbances of the system respectively and compensate in a feed-forward coupling controller, wherein the extended state observer is a three-order linear observer, and the bandwidth of the observer is
The bandwidth of the observer is properly increased, the anti-interference capability of the controller can be improved, corresponding control quantity is calculated, and a bottom layer execution mechanism is driven to complete corresponding actions, so that an air drop scene is simulated to the maximum extent. High control precision and anti-interference capabilityIs strong.
According to the embodiment, preferably, the file storage module stores information through an SD card, the mode switching module switches the flight mode through a remote controller and a receiver, the GPS acquisition module is respectively connected with the PC end and the GPS module, and the control quantity transmission task is respectively connected with the bottom layer execution mechanism and the PC end.
The method comprises the steps that a PC terminal sends current position information of a system to a flight controller through serial port communication, the flight controller enters a mode switching module after a starting module starts a task, at the moment, a ground station interaction module continuously transmits pose information of the system to the flight controller through a wireless data transmission module, if the current mode is an autonomous flight mode, the position information of the parafoil is read through a GPS acquisition module, a control quantity calculation module is started, control quantity is calculated once and stored in an SD card through a file storage module, and the control quantity is sent to an 8-DOF parafoil system dynamics model and a bottom layer execution mechanism of the PC terminal through serial ports respectively. During simulation, the information obtained by the gps acquisition module comes from an 8-DOF parafoil dynamic model at the PC end; during actual flight test, data come from a GPS module.
According to the above embodiment, preferably, the 8-DOF parafoil dynamical model is established based on the lagrangian method and the dynamical constraint, and is specifically described as follows:
wherein, the lower partSign board
Representing the load coordinate system, subscripts
Representing a parafoil coordinate system; upper label
、
、
、
Respectively represent aerodynamic force, gravity, umbrella rope pulling force and pushing force,
and
representing velocity and angular velocity, respectively;
and
representing the force and the moment, respectively,
and
representing momentum and moment of momentum, respectively, as defined below:
wherein,
is a matrix of the moment of inertia of the load,
is a true mass matrix of the parafoil,
is an additional mass matrix of the parafoil,
mid-point of two connection points of parafoil and load
Velocity of position, in the geodetic coordinate system
Is fixed, there is therefore a speed constraint:
wherein,
、
respectively representing the parafoil centroid and the load centroid to the midpoint
The distance vector of (a) is calculated,
is a coordinate system transformation matrix, relative pitching and relative yawing motions exist between the load and the parafoil,obtaining an angular velocity constraint relation:
in the formula,
、
representing relative pitch angle and relative yaw angle, respectively, and taking state variables
To obtain a shape as
The parafoil system dynamics model of (1).
According to the above-described embodiment, preferably, the control algorithm based on ADRC decoupling specifically comprises a lateral trajectory tracking controller and a longitudinal height controller,
(1) in the transverse controller, the single-side flap downward deviation is a control output, the error between the yaw angle of the parafoil system and the set yaw angle is used as a control input, and when the tracking is stable, the transverse tracking error converges to zero. The current yaw angle of the parafoil system is expressed in the form of a second order differential:
wherein
Which represents the angle of yaw of the vehicle,
to indicate the unknown disturbance,
indicating one-sided placketThe amount of the downward deviation of the wing,
the amount of the output of the thrust force is represented,
which represents the gain of the input, is,
representing the lateral coupling coefficient, the above equation can be rewritten as:
wherein
Is the equivalent input gain of the input signal,
，
the above equation can be rewritten as a form of the expanded state space, as a full disturbance including a system disturbance and an external disturbance:
will be provided with
The complement is in an extended state and the state,
the angle of yaw is represented as the angle of yaw,
is a disturbance
The first order differential of the method is used for constructing an extended state observer to solve unknown disturbance
And (3) carrying out real-time observation, wherein a third-order extended state observer based on coupling compensation is constructed as follows:
wherein,
which represents the state that is being estimated and,
，
is the output quantity that is to be observed,
the gain vector of the observer is used, and accordingly, the transverse decoupling control rate can be constructed:
wherein,
is a controller parameter, the coupling coefficient of the lateral controller
The definition is as follows:
wherein,
，
，
are parameters in the matrix of additional quality,
，
respectively defined as the velocity and angular velocity of the parafoil system,
respectively showing a roll angle, a pitch angle, and a yaw angle. Subscript
Representing an umbrella body coordinate system; subscript
Representing a relative coordinate system;
(2) in the longitudinal height controller, the design idea is similar to that of a transverse controller, the parafoil height control object is regarded as a second-order system,
wherein,
representing altitude, the non-linear characteristics of the system and external disturbances being regarded as
，
Which represents the coefficient of longitudinal coupling,
the gain of the input in the longitudinal direction is represented,
representing the longitudinal thrust output, constructing an extended state observer:
here, ,
which represents the state that is being estimated and,
is the output quantity that is to be observed,
is the gain vector of the observer, the improved longitudinal decoupling control rate:
As shown in figure 2, a power parafoil hardware experiment platform comprises an parachute body and a load mechanism, wherein the parachute body comprises a parachute head 1 consisting of an upper wing surface and a lower wing surface, a parachute rope 3, a hanging strip 6 and a brake rope 2, a plurality of separated air chambers are arranged in the middle of the parachute head 1, an opening is formed in the front edge of the parachute head 1, the rear edge of the parachute head 1 is closed, a certain rigidity can be formed by inflation in the windward direction, the tail end of the parachute rope 3 is connected with the front edge and the rear edge of the parachute head 1, the brake rope 2 is connected with two sides of the rear edge of the parachute head 1, the load mechanism comprises a load box, a foaming wheel 9 positioned at the bottom of the load box and a protection frame 4 positioned on the side edge of the load box, the foaming wheel 9 can assist a power parafoil model to slide on the ground and has a certain damping performance, two sides of the load box are connected with the parachute rope 3 and the hanging strip 6 through a connecting rod 10, a rocker arm 8 connected with the brake rope 2 is arranged on the side edge, inside has set gradually outward equipped with storehouse 11 from last to down, control storehouse 12 and battery compartment 13, is equipped with screw 5 and brushless motor in the protective frame 4, and protective frame 4 is made by glass fiber, and external diameter 40cm has also avoided the winding of umbrella rope 3 when protecting screw 5, and screw 5 and brushless motor can provide forward thrust for power parafoil model, and rocking arm 8 links to each other with outer storehouse 11. Steering and trajectory tracking are achieved by pulling the brake rope 2. When the parachute is close to the ground, the brake ropes 2 on the two sides can be pulled down rapidly at the same time to generate larger air resistance, the speed of the whole parafoil system is reduced, and therefore the soft landing effect is achieved
According to the above embodiment, preferably, the external cabin is internally provided with a GPS, a wireless data transmission, a receiver, and a steering engine 7, the control cabin 12 is internally provided with a flight controller executing an ADRC decoupling control algorithm, and the battery cabin 13 is internally provided with a 10000mhA XT90 female lithium battery and a boat switch.
According to the above embodiment, preferably, the flight controller is a cube, the outer surface of the flight controller is provided with an aviation plug 15, a power socket 16 and two LED lamps 14, the aviation plugs 15 are sequentially provided with three from left to right, the three aviation plugs are respectively used for reading signals of a receiver, connecting wireless data transmission and connecting a GPS module, and the two LED lamps are respectively red and green and are both located above the aviation plug. The LED lamp 14 is used for indicating the state of the unmanned aerial vehicle, and the state is a remote control state when the red light is on; the green light is in an autonomous flight mode when being turned on, when the green light continuously flickers, the GPS successfully locks the star, the controlled quantity begins to be calculated, and the power socket 16 adopts a DC5.5 interface and can be connected with a 12-24 v direct-current power supply.
As shown in fig. 3, the flight controller needs to burn the control algorithm and the longitude and latitude and height information of the target point through the serial bus debugging interface SWD in advance. And by adopting an ADRC decoupling-based control algorithm, the PC sends initial simulation GPS and attitude information to the flight controller through an RS232 serial port at a period of 0.2s, and simultaneously starts to receive the control quantity fed back by the controller.
And the remote controller is switched to an autonomous flight mode, the flight controller sets hardware interruption, checks a fixed bit "$ GPGGA" of the GPS data, and stores the GPS data into a serial port cache variable if the fixed bit "$ GPGGA" of the GPS data is matched with the GPS data. And the control system calculates data and calculates the horizontal and vertical control quantities according to an ADRC decoupling control strategy. One part of the calculated control quantity is sent to a bottom layer execution mechanism comprising a steering engine and a brushless motor, and the other part of the calculated control quantity is sent to a PC through an RS232 serial port.
The PC checks the returned control quantity and converts the control quantity from the character string into a floating point number. The power parafoil model corresponds the control quantity to the flap downward deviation quantity and the thrust output in the model, so that the parafoil system state of the next stage is changed.
The invention has the beneficial effects that: the power parafoil semi-physical simulation system has a simple structure and is easy to disassemble, and hardware equipment used in a simulation environment is consistent with an actual flight environment; the 8-DOF parafoil dynamic model constructed by MATLAB can better match the aerodynamic performance of the parachute, the model parameters are easy to correct, and information such as a sliding-down ratio, a turning radius and the like can be compared with an actual flight environment; when the power parafoil semi-physical simulation system executes an actual flight test, the ground takeoff and landing can be realized under the condition of no assistance or less assistance, the safety is high, and the operation is easy; the small-sized power parafoil with the same scaled-down version can be used for preliminary verification of a large-sized space recovery parafoil, is convenient for replacing different control algorithms, verifies the effectiveness of the control algorithms, and has remarkable advantages in the aspect of parameter adjustment of a controller, repeatability utilization, short verification period and strong universality; the winged umbrella system flight controller is internally provided with a file storage unit, so that the pose information and the control information of the winged umbrella system can be recorded in real time, and the later data analysis and processing are facilitated; the parameter information of the model can be effectively utilized based on ADRC decoupling, the structure is clear, the problem of strong coupling between transverse control and longitudinal control of the parafoil system is solved, and the anti-interference capability is strong.
As shown in figure 5, the system has been subjected to actual flight experiments to verify the feasibility of the established system, and the average drop point error of the parafoil system in the experimental result is within 30 meters.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A semi-physical simulation system of a power parafoil based on an active disturbance rejection decoupling control strategy is characterized by comprising a control algorithm based on ADRC decoupling and an 8-DOF parafoil system dynamic model realized by Matlab software at a PC (personal computer), wherein the control algorithm based on ADRC decoupling is executed by a flight controller in a hardware platform and transmits control quantity calculated by the flight controller to the 8-DOF parafoil system dynamic model through an RS232 serial port, and the flight controller divides the whole hardware platform into seven modules through a lightweight real-time operating system mu C/OS-III, and comprises a starting module, a file storage module for storing information, a ground station interaction module, a GPS (global positioning system) acquisition module for reading parafoil information, a control quantity transmission module, a control quantity calculation module and a mode switching module.
2. The dynamic parafoil semi-physical simulation system based on the active disturbance rejection decoupling control strategy is characterized in that the file storage module stores information through an SD card, the mode switching module switches the flight mode through a remote controller and a receiver, the GPS acquisition module is respectively connected with a PC end and a GPS module, and the control quantity transmission task is respectively connected with a bottom layer execution mechanism and the PC end.
3. The dynamic parafoil semi-physical simulation system based on the active disturbance rejection decoupling control strategy according to claim 1 is characterized in that the 8-DOF parafoil dynamic model is established based on a Lagrange method and dynamic constraints, and simultaneously, relative pitching and relative yawing motions between a load and a parafoil are considered, so that current position information of the model can be stably sent to a flight controller in a simulation period, and a flight trajectory is displayed in real time, and the specific description is as follows:
wherein the subscript
Representing a load coordinate system, subscripts
Representing a parafoil coordinate system; upper label
、
、
、
Respectively represent aerodynamic force, gravity, umbrella rope pulling force and pushing force,
and
representing velocity and angular velocity, respectively;
and
representing the force and the moment, respectively,
and
representing momentum and moment of momentum, respectively, as defined below:
wherein,
is a matrix of the moment of inertia of the load,
is a true mass matrix of the parafoil,
is an additional mass matrix of the parafoil,
mid-point of two connection points of parafoil and load
Velocity of the earth in the geodetic coordinate system
Is fixed, there is therefore a speed constraint:
wherein,
、
respectively representing the parafoil centroid and the load centroid to the midpoint
The distance vector of (a) is calculated,
relative pitching and relative yawing motion exists between the load and the parafoil for a coordinate system transformation matrix, and an angular velocity constraint relation is obtained:
in the formula,
、
representing relative pitch angle and relative yaw angle, respectively, taking state variables
To obtain a shape as
The parafoil system dynamics model of (1).
4. The dynamic parafoil semi-physical simulation system based on the active disturbance rejection decoupling control strategy is characterized in that the ADRC decoupling control algorithm specifically comprises a transverse trajectory tracking controller and a longitudinal height controller,
(1) in the lateral controller, the single-side flap down-deviation is a control output, the error between the yaw angle of the parafoil system and the set yaw angle is used as a control input, when the tracking is stable, the lateral tracking error converges to zero, and the current yaw angle of the parafoil system is expressed in the form of a second order differential:
wherein
Which represents the angle of yaw of the vehicle,
to indicate the unknown disturbance,
indicating the amount of one-sided flap downshifting,
the amount of the output of the thrust force is represented,
which represents the gain of the input and is,
representing the lateral coupling coefficient, the above equation can be rewritten as:
wherein
Is the equivalent input gain of the input signal,
，
the above equation can be rewritten as a form of the expanded state space, as a full disturbance including a system disturbance and an external disturbance:
will be provided with
The complement is in an extended state and the state,
the angle of yaw is represented as the angle of yaw,
is a disturbance
The first order differential of the method is used for constructing an extended state observer to solve unknown disturbance
And (3) carrying out real-time observation, wherein a third-order extended state observer based on coupling compensation is constructed as follows:
wherein,
which represents the state that is being estimated and,
，
is the output quantity that is to be observed,
the gain vector of the observer is used, and accordingly, the transverse decoupling control rate can be constructed:
wherein,
is a controller parameter, the coupling coefficient of the lateral controller
The definition is as follows:
wherein,
，
，
are parameters in the matrix of additional quality,
，
respectively defined as the velocity and angular velocity of the parafoil system,
respectively showing a roll angle, a pitch angle, and a yaw angle.
5. Subscript
Representing an umbrella body coordinate system; subscript
Representing a relative coordinate system;
(2) in the longitudinal height controller, the design idea is similar to that of a transverse controller, a parafoil height control object is regarded as a second-order system,
wherein,
representing altitude, the non-linear characteristics of the system and external disturbances being regarded as
，
Which represents the coefficient of longitudinal coupling,
the gain of the longitudinal input is represented,
representing the longitudinal thrust output, constructing an extended state observer:
here, ,
which represents the state that is being estimated and,
is the amount of output that is being observed,
is the gain vector of the observer, the improved longitudinal decoupling control rate:
6. A power parafoil hardware experiment platform for realizing the semi-physical simulation system of the power parafoil based on the active-disturbance-rejection decoupling control strategy, which is characterized by comprising an parachute body and a load mechanism, wherein the parachute body comprises a parachute head consisting of an upper wing surface and a lower wing surface, a parachute rope, a sling and a brake rope, a plurality of separated air chambers are arranged in the middle of the parachute head, the front edge of the parachute head is provided with an opening, the rear edge of the parachute head is closed, the tail end of the parachute rope is connected with the front edge and the rear edge of the parachute head, the brake rope is connected with two sides of the rear edge of the parachute head, the load mechanism comprises a load box, a foaming wheel positioned at the bottom of the load box and a protective frame positioned on the side edge of the load box, two sides of the load box are connected with the parachute rope and the sling through connecting rods, the side edge is provided with a rocker arm connected with the brake rope, and a cabin outer device is sequentially arranged inside from top to bottom, the device comprises a control bin and a battery bin, wherein a propeller and a brushless motor are arranged in the protective frame, and the rocker arm is connected with an external bin.
7. The power parafoil hardware experiment platform of claim 5, wherein the inside of the external cabin is provided with a GPS, a wireless data transmission, a receiver and a steering engine, the inside of the control cabin is provided with a flight controller for executing an ADRC decoupling control algorithm, and the inside of the battery cabin is provided with a 10000mhA XT90 female lithium battery and a ship-shaped switch.
8. A power parafoil hardware experiment platform according to claim 6, wherein the whole flying controller is a cube, the outer surface of the flying controller is provided with an aviation plug, a power socket and two LED lamps, the aviation plug is sequentially provided with three plugs from left to right and is respectively used for reading a receiver signal, connecting a wireless data transmission and connecting a GPS module, and the two LED lamps are respectively red and green and are both positioned above the aviation plug.
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