航空科学技术2024，Vol.35Issue(4)：74-82,9.DOI:10.19452/j.issn1007-5453.2024.04.010
基于模型预测控制的翼伞航迹跟踪
Parafoil Trajectory Tracking Based on Model Predictive Control
摘要
Abstract
A parafoil is an umbrella-like device that can be unfolded in the air and folded on the ground.Its inherent high instability and complex aerodynamic characteristics pose significant challenges for parafoil control.This paper proposed a parafoil trajectory tracking control method based on Model Predictive Control(MPC).First,a kinematic and dynamic model of the parafoil is established,including the state variables such as position,velocity,acceleration,and the aerodynamic forces and moments acting on the parafoil's motion.Then,the model predictive control method is employed to predict the parafoil's behavior using the known parafoil model and environmental model,and the optimal control inputs are calculated through an optimization algorithm to achieve parafoil trajectory tracking control.Finally,the effectiveness of the proposed control method is verified through simulation experiments.Compared to traditional parafoil tracking methods,the method proposed in this paper shows better tracking performance.This method can effectively suppress the influence on external disturbances,has good control accuracy and robustness,and has certain engineering application value.关键词
翼伞/模型预测控制/航迹跟踪/优化算法/仿真验证Key words
parafoil/MPC/trajectory tracking/optimization algorithm/simulation分类
航空航天引用本文复制引用
李之翰,南英,万金诚..基于模型预测控制的翼伞航迹跟踪[J].航空科学技术,2024,35(4):74-82,9.基金项目
航空科学基金(201929052002) Aeronautical Science Foundation of China(201929052002) （201929052002）
