شبیه‌سازی 6-درجه آزادی و روش هدایت ترکیبی برای سامانه پارافویل- محموله در حضور باد و قیدهای عوارض زمینی

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 دانشکده پرواز- دانشگاه هوایی شهید ستاری

2 دانشکده مهندسی برق، دانشگاه علوم و فنون هوایی شهید ستاری، تهران، ایران

3 دانشگاه صنعتی شریف

4 استادیار، دانشگاه فرماندهی و ستاد آجا، تهران، ایران

چکیده

در این مقاله، روش هدایت ترکیبی برای فرود دقیق سامانه پارافویل-محموله در حضور باد و قیود عوارض زمینی ارائه شده است. در این راستا، یک شبیه­ساز دقیق 6-درجه آزادی با در نظر گرفتن اثرات جرم و اینرسی ظاهری مورد بررسی قرار گرفته است. در روش هدایت ترکیبی، از بهینه­سازی مسیر در فاز آشیانه­یابی و هدایت تقرب T اصلاح­یافته در فاز مدیریت ارتفاع و فرود بهره گرفته­ شده است. بهره­گیری از دقت بالای فرود هدایت تقرب T و مقاوم بودن آن در برابر باد به همراه قابلیت جلوگیری از برخورد با قیود عوارض زمینی در روش بهینه­سازی مسیر از دلایل توسعه هدایت ترکیبی می­باشد. برای جبران کردن اثرات نامساعد باد در دقت فرود، روش حداقل مربعات بازگشتی برای شناسایی باد تنها با استفاده از داده­های جی­پی­اس ارائه شده است. به منظور بررسی صحت عملکرد مدل پیشنهادی، مدل‌سازی ریاضی انجام شده است و از نرم‌افزار متلب برای استخراج نتایج شبیه‌سازی استفاده شده است.

کلیدواژه‌ها


عنوان مقاله [English]

Six Degree of Freedom Simulation and Hybrid Guidance of Parafoil-Payload Systems Considering Wind and Terrain Constraints

نویسندگان [English]

  • AMIN RADMANESH 1
  • Hamid Radmanesh 2
  • mohamadreza qorbani 3
  • Hamid Mohamadhossein 4
1 FLIGHT FACULTY- SHAHID SATTARI AIR UNIVERSITY
2 Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran
3 Sharif University of Technology
4 AJA University, Tehran, Iran
چکیده [English]

In this paper, a hybrid guidance method is proposed for the precise landing of parafoil-payload systems in the presence of wind and terrain constraints. In this respect, a precise 6-DoF simulator is presented considering apparent mass effects. The hybrid guidance method consists of trajectory optimization in the coming phase and     T-approach guidance in the height management and landing phases. In order to realize accurate homing to the waypoints obtained from the hybrid guidance method, proportional navigation guidance is proposed. To compensate for the adverse effects of wind on the accuracy of landing, the method of recursive least squares for wind identification is provided using GPS data. In order to evaluate the performance of T-Approach guidance that determines the landing accuracy in the hybrid guidance method, a Monte-Carlo analysis with noisy GPS data, errors in wind estimation, turbulence and uncertainty in the dynamics of the system is performed. The results of this analysis have shown high landing accuracy.

کلیدواژه‌ها [English]

  • Parafoil-Payload system
  • Trajectory Optimization
  • Wind Estimation
  • Guidance
  • T-Approach

Smiley face

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