Journal of Computer Applications ›› 2012, Vol. 32 ›› Issue (11): 3235-3239.DOI: 10.3724/SP.J.1087.2012.03235

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Dynamic Model of Heavy-Equipment Airdrop and Control Design

HE Lei,SUN Xiu-xia,DONG Wen-han,LI Da-dong   

  1. Engineering Institute,Air Force Engineering University,Xian Shaanxi 710038,China
  • Received:2012-05-16 Revised:2012-07-01 Online:2012-11-12 Published:2012-11-01
  • Contact: HE Lei

重装空投系统的动力学建模与控制律设计

贺磊,孙秀霞,董文瀚,李大东   

  1. 空军工程大学 工程学院,西安 710038
  • 通讯作者: 贺磊
  • 作者简介:贺磊(1990-),男,河南洛阳人,硕士研究生,主要研究方向:动力学建模、现代飞行控制;孙秀霞(1962-),女,山东潍坊人,教授,博士生导师,博士,主要研究方向:现代鲁棒控制、飞行控制;董文瀚(1979-),男,江西鄱阳人,副教授,博士,主要研究方向:自适应控制。
  • 基金资助:
    国家自然科学基金资助项目(60904038)

Abstract: In view of the difference between present heavy-equipment airdrop mathematical model and the real system, the separation body method was improved. Considering cargo as rigid body, the point by constraint reaction of cargo was modified and the parachute force direction was presented, so a more accurate method of calculating disturbance torque was proposed which covered many influential factors including angle of cabin floor and friction coefficient. Then a more realistic dynamic model of heavy-equipment airdrop was established. The control laws of pitch altitude hold mode and velocity hold mode were designed and their parameters were selected by genetic algorithm. The simulation results indicate that the proposed control scheme can effectively hold flight path and aircraft attitude.

Key words: heavy-equipment airdrop, dynamic model, rigid body motion, airdrop control law

摘要: 针对当前重装空投数学模型与实际系统存在偏差等问题,改进传统的分离体建模方法。将货物视作刚体考虑分析,修正了货物约束力的作用点,引入了牵引伞力作用方向,综合考虑了货舱地板角、摩擦系数等影响因素,提出更加精确的干扰力矩计算方法,建立更加贴近实际的重装空投动力学模型。设计了俯仰高度保持和速度保持控制律,并利用遗传算法选取了合适的控制律参数。仿真结果表明,所给出的控制方案能够有效地保持飞行轨迹和稳定飞机姿态。

关键词: 重装空投, 动力学模型, 刚体运动, 空投控制律

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