多自主翼伞系统建模及其集结控制

当前对翼伞系统的研究主要集中在单个翼伞，但实际空投中一般需要使用多个翼伞，才能完成大量物资、装备的空投补给任务，而多个翼伞同时空投时，将会出现翼伞需要集结、相互间需要避免碰撞等在单翼伞空投时不存在的问题。现有的单翼伞系统已能通过GPS/惯导系统及其他板载传感器实现自主飞行，针对多个自主翼伞的空投任务设计算法，以控制下降翼伞之间的相互运动，实现多翼伞系统的集结和避碰。首先以质点模型为起点，通过引入新的独立变量，并将翼伞运动转换至风固定坐标系，使得单个翼伞质点模型降维为非线性降阶模型，进而得到多自主翼伞模型，在此基础上提出了一种集结控制算法，利用每个翼伞自身的状态信息和相邻翼伞的状态信息，采用势场法使得多翼伞实现集结并避免碰撞，最后一致地降落至地面。仿真结果表明多个自主翼伞实现了集结，减小了翼伞的着陆散布，降低了翼伞之间的碰撞风险，验证了该方法的有效性，可以为进一步研究多自主翼伞协同控制提供理论参考。

Multiple autonomous parafoils system modeling and rendezvous control

At present a lot of studies about parafoil system mainly focus on single parafoil, but it usually needs multiple parafoils to drop a large amount of supplies and equipment in actual drop tasks. When multiple parafoils are dropped at the same time, there will be some new problems, such as all parafoils need to rendezvous and every parafoil should avoid collision among each other. The existing single parafoil can realize autonomous flight by GPS/inertial navigation system and other on-board sensors, so in this paper we need to design control algorithm to control the relative motion of the descending parafoils, and to realize the rendezvous and collision avoidance of multiple autonomous parafoils. Firstly, this paper takes the particle model as a starting point, transforms the particle model to a reduced dimension non-linear model by introducing new independent variables, converts the parafoil's movement to the airflow fixed coordinate frame, and then derives the multiple autonomous parafoils model. Moreover, the paper proposes a rendezvous control algorithm based on potential field method, uses each parafoil's own status information and adjacent parafoil's status information, and makes multiple autonomous parafoils rendezvous, avoid collisions and land to the ground consistently. The simulation results verify the validity of the proposed method, and that multiple autonomous parafoils implement rendezvous, reduce the parafoils' landing spread, and decrease the collision risk among each other. The results in this paper provide a theoretical reference for multiple autonomous parafoils coordinated control in further research.