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现有文献中的翼伞建模方法多数是针对不带动力情况下的翼伞建模,不能适应动力翼伞的飞行控制。为了实现动力伞的有效控制,首先要建立合理的动力学模型。假设翼伞承载物和软翼之间具有2个自由度,分别建立软翼和承载物体坐标系下的作用力和力矩的平衡方程,通过体坐标系转换和消除翼伞内部状态量,得到有利于实现翼伞控制的8自由度非线性状态方程。仿真表明模型的飞行曲线与飞行实验的结果相一致,验证了模型的有效性。
The existing wing parafoil modeling methods in the existing literature mostly aim at the wing parafoil modeling without the driving force and can not adapt to the flight control of the powered wing parachute. In order to achieve effective control of the paramotor, we must first establish a reasonable kinetic model. Assuming that there are two degrees of freedom between the parafoil bearing and the soft wing, the equilibrium equations of the forces and moments under the soft wing and the bearing object coordinate system are respectively established. By converting and eliminating the internal state quantities of the parafoil through the body coordinate system, Which is beneficial to the 8-DOF nonlinear equation of state for wing control. The simulation shows that the flight curve of the model is consistent with the result of the flight experiment, which verifies the validity of the model.