多翼伞系统智能协同控制研究  

Research on Intelligent Cooperative Control of Multi-parafoil System

作　　者：卢伟涛 孙昊 滕海山[2] 孙青林 LU Weitao;SUN Hao;TENG Haishan;SUN Qinglin(College of Artificial Intelligence,Nankai University,Tianjin 300350,China;Beijing Institute of Space Mechanics and Electricity,Beijing 100094,China)

机构地区：[1]南开大学人工智能学院,天津300350 [2]北京空间机电研究所,北京100094

出　　处：《航天返回与遥感》2022年第5期36-47,共12页Spacecraft Recovery & Remote Sensing

基　　金：国家科学基金(62003177,61973172,62003175);科技部重点研发项目(2019YFC1510900)。

摘　　要：为了在实际空投任务中实现大规模的物资、装备补给,采用多翼伞协同是未来翼伞空投的重点发展方向,然而基于多体协同的空投方式也提高了控制的复杂度。为实现大规模多翼伞空投系统协同控制,文章采用了多翼伞系统非线性降阶模型,提出了多翼伞系统协同控制算法,并对控制器进行了稳定性分析。通过仿真实验与实际翼伞试验,验证了该控制算法在各翼伞个体分散投放的情况下,各翼伞通过局部信息交互获得其邻居翼伞的位置,可在较短时间内实现具有一定的安全间距的编队协同飞行,避免了相互碰撞的风险,最终雀降着陆。文章研究的方法对多翼伞系统协同控制有较好的效果,可为多翼伞系统的进一步研究提供理论参考。In order to achieve large-scale material and equipment supply in the actual airdrop mission,the application of multi-parafoil coordination is the key development direction of future para-flying airdrops.However,the airdrop method based on multi-body coordination also increases the complexity of control.In order to realize the cooperative control of large-scale multi-parafoil system,the nonlinear reduced order model of multi-parafoil system is adopted in this paper,the cooperative control algorithm of multi-parafoil system is proposed,and the stability of the controller is analyzed.The simulation and experiment results prove that the control algorithm can get the position of neighbor parafoil through local information interaction under the condition of individual parafoil dispersing,and it can realize the formation cooperative flight of keeping a certain safe distance within a relatively short period of time,avoiding the risk of collision,and finally landing.Simulation and experimental results show that the proposed method has good results on the collaborative control of multi-parafoil system,which can provide theoretical reference for further research of multi-parafoil system.

关 键 词：多系统协同 自抗扰控制 空投任务 多翼伞系统 

分 类 号：V445[航空宇航科学与技术—飞行器设计]