系留翼伞刚柔混合模型控制方法探索研究

系留翼伞可借助风力长期滞空，相比系留无人机具有抗风能力强、载荷重量大、电能消耗低、侦察视距远等优点，由于系留翼伞具有刚柔耦合特性，控制系统设计难度高，目前还缺乏有效的控制模型，技术上还不够成熟，制约了新型滞空飞行平台的应用。从系留翼伞刚柔耦合动力学建模、系留翼伞非定常气动力建模、系留翼伞刚柔混合状态空间建模、系留翼伞刚柔混合控制技术实现等四个方面探索了基于刚柔混合模型的系留翼伞控制方法，并验证了该方法的有效性。

Research on rigid flexible hybrid model control method for tethered parafoil

The tethered parachute can stay in the air for a long time with the load of wind, which has the advantages of strong wind resistance, high load weight, low power consumption and long reconnaissance range compared with the tethered UAVs. Due to the rigid-flexible coupling characteristics of the tethered parachute, the control system is difficult to design, and there is a lack of effective control models and immature technology, which restricts the application of this new hysteretic flight platform. In this paper, the tethered parachute control method based on the rigid-flexible coupling dynamics modeling, the unsteady aerodynamic modeling of tethered parachute, the rigid-flexible coupling state-space modeling of tethered parachute and the tethered parachute rigid-flexible hybrid control technology implementation are introduced, and the effectiveness of the method is verified.