CN114740762A - Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy - Google Patents

Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy Download PDF

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CN114740762A
CN114740762A CN202210491834.1A CN202210491834A CN114740762A CN 114740762 A CN114740762 A CN 114740762A CN 202210491834 A CN202210491834 A CN 202210491834A CN 114740762 A CN114740762 A CN 114740762A
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parafoil
controller
representing
control
decoupling
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孙昊
余力
孙青林
于振苹
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Nankai University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract

The invention provides a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy, which relates to the field of unmanned aerial vehicle flight control.A 8-DOF parafoil dynamic model can effectively simulate the flight state of an actual parafoil system, the model parameters are easy to correct, and information such as a sliding-down ratio, a turning radius and the like can be compared with the actual flight environment; the flight control algorithm based on ADRC decoupling is realized by a hardware controller, and the precision of trajectory tracking can be effectively improved by a coupling compensation method. The PC and the hardware controller are communicated through an RS232 serial port. The control method based on ADRC decoupling can effectively overcome the coupling effect of the system and improve the anti-interference performance and the track tracking precision. The power parafoil provided by the invention supports ground take-off and landing, has low requirements on experimental conditions and strong repeatability, is convenient for parameter adjustment, and shortens the research and development period.

Description

Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy
Technical Field
The invention relates to the field of flight control of unmanned aerial vehicles, in particular to a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy.
Background
The parafoil system is widely used in aerospace, military and civil fields because of its good gliding performance, stability and good handling performance. Particularly in the field of aircraft recovery in China, the conventional aviation recovery uses circular umbrellas, the landing points are random, and the booster of the Long-March type III B carrier rocket automatically navigates through a large parafoil system for the first time and realizes accurate fixed-point recovery, which has a certain lead in the field of international aircraft recovery.
However, such unpowered parafoil systems are often very expensive in early experiments, because the parafoil systems are required to be taken high above the air by an airplane or a hot air balloon in an airdrop test, and the combined action of various factors and interference of weather factors causes a severe challenge to research work on the parafoil systems.
A power parafoil is an umbrella-wing aircraft with a power device as the name suggests, and is an unmanned aircraft flying by virtue of the lift force generated by the parafoil inflating in the windward direction and the thrust generated by a propeller. The small-sized power parafoil system can realize ground take-off and landing under the condition of no assistance or little assistance, and can realize steering operation by pulling a brake rope connected with the trailing edge of the flap. A small-sized power parafoil which is reduced by a large parafoil in a same ratio can well verify the effectiveness and feasibility of a track tracking control algorithm in the initial stage of an experiment, and the development period is greatly shortened.
Powered parafoils have many advantages as a class of flexible wing aircraft, but also have significant disadvantages. The parafoil is made of flexible materials, rigidity is formed by windward inflation, and a lift force is formed by utilizing a pressure difference generated between an upper wing surface and a lower wing surface. The umbrella head is connected with the load through a plurality of umbrella ropes, but the connection cannot be regarded as rigid connection, because the umbrella shape can be changed by the changes of meteorological conditions and self motion postures, and in addition, relative motion exists between the umbrella head and the load, so that the parafoil system has strong nonlinear characteristics and more complex cross coupling characteristics.
There are many methods for nonlinear system control, but these methods tend to rely more on the model itself. The complexity of the power parafoil system model is relatively high, and besides three degrees of freedom of the parachute body and the load, the relative pitching and the relative yawing motion between the parachute body and the load must be considered, so that accurate model information is difficult to apply to a control algorithm. The traditional pid control does not depend on model information, is simple to use but has low adjustment precision and low anti-interference performance. Therefore, a control algorithm with high noise immunity and high accuracy is desired.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy.
The invention is realized by the following technical scheme: a semi-physical simulation system of a power parafoil based on an active disturbance rejection decoupling control strategy is characterized by comprising a control algorithm based on ADRC decoupling and an 8-DOF parafoil system dynamic model realized by Matlab software at a PC (personal computer), wherein the control algorithm based on the ADRC decoupling is executed by a flight controller in a hardware platform and transmits control quantity calculated by the flight controller to the 8-DOF parafoil system dynamic model through an RS232 serial port, and the flight controller divides the whole hardware platform into seven modules through a lightweight real-time operating system mu C/OS-III, and comprises a starting module, a file storage module for storing information, a ground station interaction module, a GPS (global positioning system) acquisition module for reading parafoil information, a control quantity transmission module, a control quantity calculation module and a mode switching module.
According to the technical scheme, preferably, the file storage module stores information through an SD card, the mode switching module switches the flight mode through a remote controller and a receiver, the GPS acquisition module is respectively connected with the PC end and the GPS module, and the control quantity transmission task is respectively connected with the bottom layer execution mechanism and the PC end.
According to the technical scheme, preferably, the 8-DOF parafoil kinetic model is established based on a lagrangian method and kinetic constraint, and is specifically described as follows:
Figure DEST_PATH_IMAGE001
Figure 271210DEST_PATH_IMAGE002
Figure DEST_PATH_IMAGE003
Figure 601697DEST_PATH_IMAGE004
wherein the subscript
Figure DEST_PATH_IMAGE005
Representing a load coordinate system, subscripts
Figure 954443DEST_PATH_IMAGE006
Representing a parafoil coordinate system; upper label
Figure DEST_PATH_IMAGE007
、
Figure 446604DEST_PATH_IMAGE008
、
Figure DEST_PATH_IMAGE009
、
Figure 891492DEST_PATH_IMAGE010
Respectively represent aerodynamic force, gravity, umbrella rope pulling force and pushing force,
Figure DEST_PATH_IMAGE011
and
Figure 25670DEST_PATH_IMAGE012
representing velocity and angular velocity, respectively;
Figure DEST_PATH_IMAGE013
and
Figure 731458DEST_PATH_IMAGE014
representing the force and the moment, respectively,
Figure DEST_PATH_IMAGE015
and
Figure 535466DEST_PATH_IMAGE016
representing momentum and moment of momentum, respectively, as defined below:
Figure DEST_PATH_IMAGE017
Figure 828169DEST_PATH_IMAGE018
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE019
is a matrix of the moment of inertia of the load,
Figure 500459DEST_PATH_IMAGE020
is a true mass matrix of the parafoil,
Figure DEST_PATH_IMAGE021
is an additional mass matrix of the parafoil,
mid-point of two connection points of parafoil and load
Figure 60753DEST_PATH_IMAGE022
Velocity of the earth in the geodetic coordinate system
Figure DEST_PATH_IMAGE023
Is fixed, there is therefore a speed constraint:
Figure 301242DEST_PATH_IMAGE024
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE025
、
Figure 579776DEST_PATH_IMAGE026
respectively representing the parafoil centroid and the load centroid to the midpoint
Figure DEST_PATH_IMAGE027
The distance vector of (a) is calculated,
Figure 291643DEST_PATH_IMAGE028
relative pitching and relative yawing motion exists between the load and the parafoil for a coordinate system transformation matrix, and an angular velocity constraint relation is obtained:
Figure DEST_PATH_IMAGE029
in the formula (I), the compound is shown in the specification,
Figure 847389DEST_PATH_IMAGE030
、
Figure DEST_PATH_IMAGE031
representing relative pitch angle and relative yaw angle, respectively, and taking state variables
Figure 383412DEST_PATH_IMAGE032
To obtain a shape as
Figure DEST_PATH_IMAGE033
The parafoil system dynamics model of (1).
According to the above technical solution, preferably, the control algorithm based on ADRC decoupling specifically includes a transverse trajectory tracking controller and a longitudinal height controller,
(1) in the lateral controller, the single-side flap down-deviation is a control output, the error between the yaw angle of the parafoil system and the set yaw angle is used as a control input, when the tracking is stable, the lateral tracking error converges to zero, and the current yaw angle of the parafoil system is expressed in the form of a second order differential:
Figure 149243DEST_PATH_IMAGE034
wherein
Figure DEST_PATH_IMAGE035
Representing yaw angle，
Figure 897756DEST_PATH_IMAGE036
To indicate the unknown disturbance,
Figure DEST_PATH_IMAGE037
indicating the amount of one-sided flap downshifting,
Figure 573588DEST_PATH_IMAGE038
the amount of the output of the thrust force is represented,
Figure DEST_PATH_IMAGE039
which represents the gain of the input, is,
Figure 516399DEST_PATH_IMAGE040
representing the lateral coupling coefficient, the above equation can be rewritten as:
Figure DEST_PATH_IMAGE041
wherein
Figure 910471DEST_PATH_IMAGE042
Is the equivalent input gain of the input of the amplifier,
Figure DEST_PATH_IMAGE043
，
Figure 462675DEST_PATH_IMAGE044
the above equation can be rewritten as a form of the expanded state space, as a full disturbance including a system disturbance and an external disturbance:
Figure DEST_PATH_IMAGE045
will be provided with
Figure 117647DEST_PATH_IMAGE046
The complement is in an extended state and the state,
Figure DEST_PATH_IMAGE047
the angle of yaw is represented as the angle of yaw,
Figure 605260DEST_PATH_IMAGE048
is a disturbance
Figure DEST_PATH_IMAGE049
The first order differential of the method is used for constructing an extended state observer to solve unknown disturbance
Figure 345683DEST_PATH_IMAGE049
And (3) carrying out real-time observation, wherein a third-order extended state observer based on coupling compensation is constructed as follows:
Figure 108103DEST_PATH_IMAGE050
Figure DEST_PATH_IMAGE051
wherein the content of the first and second substances,
Figure 119047DEST_PATH_IMAGE052
which represents the state that is being estimated and,
Figure 308720DEST_PATH_IMAGE053
，
Figure DEST_PATH_IMAGE054
is the output quantity that is to be observed,
Figure 270859DEST_PATH_IMAGE055
the gain vector of the observer is used, and accordingly, the transverse decoupling control rate can be constructed:
Figure DEST_PATH_IMAGE056
wherein the content of the first and second substances,
Figure 164866DEST_PATH_IMAGE057
is a parameter of the controller that is,coupling coefficient of lateral controller
Figure 200955DEST_PATH_IMAGE040
The definition is as follows:
Figure DEST_PATH_IMAGE058
Figure 155005DEST_PATH_IMAGE059
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE060
，
Figure 105905DEST_PATH_IMAGE061
，
Figure DEST_PATH_IMAGE062
are parameters in the matrix of additional quality,
Figure 944548DEST_PATH_IMAGE063
，
Figure DEST_PATH_IMAGE064
respectively defined as the velocity and angular velocity of the parafoil system,
Figure 428619DEST_PATH_IMAGE065
respectively showing a roll angle, a pitch angle, and a yaw angle. Subscript
Figure DEST_PATH_IMAGE066
Representing an umbrella body coordinate system; subscript
Figure 553570DEST_PATH_IMAGE067
Representing a relative coordinate system;
(2) in the longitudinal height controller, the design idea is similar to that of a transverse controller, a parafoil height control object is regarded as a second-order system,
Figure DEST_PATH_IMAGE068
wherein the content of the first and second substances,
Figure 365668DEST_PATH_IMAGE016
representing altitude, the non-linear characteristics of the system and external disturbances being regarded as
Figure 132636DEST_PATH_IMAGE069
，
Figure DEST_PATH_IMAGE070
Which represents the coefficient of longitudinal coupling,
Figure 346580DEST_PATH_IMAGE070
the gain of the input in the longitudinal direction is represented,
Figure 686774DEST_PATH_IMAGE071
representing the longitudinal thrust output, constructing an extended state observer:
Figure DEST_PATH_IMAGE072
，
Figure 986168DEST_PATH_IMAGE073
here, the first and second liquid crystal display panels are,
Figure DEST_PATH_IMAGE074
which represents the state that is being estimated and,
Figure 291248DEST_PATH_IMAGE054
is the output quantity that is to be observed,
Figure 625277DEST_PATH_IMAGE075
is the gain vector of the observer, the improved longitudinal decoupling control rate:
Figure DEST_PATH_IMAGE076
Figure 357610DEST_PATH_IMAGE077
is a parameter of the controller that is,
Figure DEST_PATH_IMAGE078
is the reference height.
The utility model provides a power parafoil hardware experiment platform, including the umbrella body and load mechanism, the umbrella body is including the umbrella head that two upper and lower airfoil are constituteed, the umbrella rope, suspender and brake rope, the centre of umbrella head is equipped with a plurality of air chambers that separate, and the front edge of umbrella head is equipped with the opening, the trailing edge is sealed, the end of umbrella rope is preceding with the umbrella head, the trailing edge links to each other, the brake rope links to each other with the trailing edge both sides of umbrella head, load mechanism includes the load case, be located the foaming wheel of load bottom of the case portion and be located the protective frame of load case side, the both sides of load case are passed through the connecting rod and are linked to each other with parachute rope and suspender, the side is equipped with the rocking arm that links to each other with the brake rope, inside has set gradually the outer storehouse from top to bottom, control storehouse and battery storehouse, be equipped with screw and brushless motor in the protective frame, the rocking arm links to each other with the outer storehouse.
According to the technical scheme, preferably, the peripheral cabin is internally provided with a GPS, a wireless data transmission device, a receiver and a steering engine, the control cabin is internally provided with a flight controller for executing an ADRC decoupling control algorithm, and the battery cabin is internally provided with a 10000mhA XT90 female lithium battery and a boat-shaped switch.
According to the technical scheme, preferably, the whole flight controller is a cube, the outer surface of the flight controller is provided with the aviation plug, the power socket and the two LED lamps, the aviation plugs are sequentially provided with three plugs from left to right and are respectively used for reading signals of the receiver, connecting wireless data transmission and connecting a GPS module, and the two LED lamps are respectively red and green and are all located above the aviation plugs.
The invention has the beneficial effects that: the dynamic parafoil semi-physical simulation system is simple in structure and easy to disassemble, and hardware equipment used in a simulation environment is consistent with an actual flight environment; the 8-DOF parafoil dynamic model constructed by MATLAB can better match the aerodynamic performance of the parachute, the model parameters are easy to correct, and information such as a sliding-down ratio, a turning radius and the like can be compared with an actual flight environment; when the power parafoil semi-physical simulation system executes an actual flight test, the ground take-off and landing can be realized under the condition of no assistance of people or less assistance of people, the safety is high, and the operation is easy; the small-sized power parafoil with the same scaled down version can be used as the preliminary verification of a large-sized space recovery parafoil, is convenient for replacing different control algorithms, verifies the effectiveness of the control algorithms, has remarkable advantages in the aspect of parameter adjustment of a controller, and has the advantages of repeatability utilization, short verification period and strong universality; the winged umbrella system flight controller is internally provided with a file storage unit, so that the pose information and the control information of the winged umbrella system can be recorded in real time, and the later data analysis and processing are facilitated; the parameter information of the model can be effectively utilized based on ADRC decoupling, the structure is clear, the problem of strong coupling between transverse control and longitudinal control of the parafoil system is solved, and the anti-interference capability is strong.
Drawings
FIG. 1 is a schematic block diagram of a power parafoil semi-physical simulation system;
FIG. 2 is a main frame structure of a power parafoil system hardware platform;
FIG. 3 is a view of the configuration of the flight controller of the power parafoil;
figure 4 is a controller schematic based on ADRC decoupling,
fig. 5 is a graph of flight experiment results.
In the figure: 1. an umbrella head; 2. a brake rope; 3. an umbrella rope; 4. a protective frame; 5. a propeller; 6. a sling; 7. a steering engine; 8. a rocker arm; 9. a foaming wheel; 10. a connecting rod; 11. an external storage; 12. a control bin; 13. a battery compartment; 14. an LED lamp; 15. an aviation plug; 16. an electric outlet.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.
As shown in figure 1, the invention provides a dynamic parafoil semi-physical simulation system based on an active disturbance rejection decoupling control strategy, which is characterized by comprising a control algorithm based on ADRC decoupling and an 8-DOF parafoil system dynamics model realized by Matlab software at a PC end, wherein the control algorithm based on the ADRC decoupling is executed by a flight controller in a hardware platform, and transmits a control quantity calculated by the flight controller to the 8-DOF parafoil system dynamics model through an RS232 serial port, and the flight controller divides the whole hardware platform into seven modules through a lightweight real-time operating system mu C/OS-III, wherein each module comprises a starting module, a file storage module for storing information, a ground station interaction module, a GPS (global positioning system) acquisition module for reading parafoil information, a control quantity transmission module, a control quantity calculation module and a mode switching module.
The 8-DOF parafoil system dynamic model basically conforms to the motion state of an actual parafoil system by considering the relative pitching and relative yawing motions between the parachute body and the load. Meanwhile, the motion trail and the corresponding control quantity of the system can be displayed in real time in the simulation process, and the effectiveness of the control scheme can be judged more visually. The 8-DOF parafoil system dynamics model in the PC machine corresponds the control quantity to the flap lower deflection and the thrust and transmits new system pose information to the flight controller through the RS232 serial port to calculate the control quantity, and the generated control quantity can change the pneumatic performance of the model system, so that the track tracking control is realized. In addition, the communication is carried out through the RS232 serial port, an external level conversion module is not needed, and the communication is stable. The method has the advantages of remarkable control parameter adjustment, repeatability utilization and short verification period.
The ADRC decoupling control algorithm is to regard a parafoil system as a transverse and longitudinal two-order system which are mutually coupled, then establish a three-order extended state observer to observe internal and external disturbances of the system respectively and compensate in a feed-forward coupling controller, wherein the extended state observer is a three-order linear observer, and the bandwidth of the observer is
Figure 268934DEST_PATH_IMAGE079
The bandwidth of the observer is properly increased, the anti-interference capability of the controller can be improved, corresponding control quantity is calculated, and a bottom layer execution mechanism is driven to complete corresponding actions, so that an air drop scene is simulated to the maximum extent. High control precision and anti-interference capabilityIs strong.
According to the embodiment, preferably, the file storage module stores information through an SD card, the mode switching module switches the flight mode through a remote controller and a receiver, the GPS acquisition module is respectively connected with the PC end and the GPS module, and the control quantity transmission task is respectively connected with the bottom layer execution mechanism and the PC end.
The method comprises the steps that a PC terminal sends current position information of a system to a flight controller through serial port communication, the flight controller enters a mode switching module after a starting module starts a task, at the moment, a ground station interaction module continuously transmits pose information of the system to the flight controller through a wireless data transmission module, if the current mode is an autonomous flight mode, the position information of the parafoil is read through a GPS acquisition module, a control quantity calculation module is started, control quantity is calculated once and stored in an SD card through a file storage module, and the control quantity is sent to an 8-DOF parafoil system dynamics model and a bottom layer execution mechanism of the PC terminal through serial ports respectively. During simulation, the information obtained by the gps acquisition module comes from an 8-DOF parafoil dynamic model at the PC end; during actual flight test, data come from a GPS module.
According to the above embodiment, preferably, the 8-DOF parafoil dynamical model is established based on the lagrangian method and the dynamical constraint, and is specifically described as follows:
Figure DEST_PATH_IMAGE080
Figure 987491DEST_PATH_IMAGE002
Figure 67705DEST_PATH_IMAGE003
Figure 111884DEST_PATH_IMAGE004
wherein, the lower partSign board
Figure 651450DEST_PATH_IMAGE005
Representing the load coordinate system, subscripts
Figure 563911DEST_PATH_IMAGE006
Representing a parafoil coordinate system; upper label
Figure 872533DEST_PATH_IMAGE007
、
Figure 87613DEST_PATH_IMAGE008
、
Figure 239109DEST_PATH_IMAGE009
、
Figure 565048DEST_PATH_IMAGE010
Respectively represent aerodynamic force, gravity, umbrella rope pulling force and pushing force,
Figure 993756DEST_PATH_IMAGE011
and
Figure 769951DEST_PATH_IMAGE012
representing velocity and angular velocity, respectively;
Figure 18529DEST_PATH_IMAGE013
and
Figure 148159DEST_PATH_IMAGE014
representing the force and the moment, respectively,
Figure 323051DEST_PATH_IMAGE015
and
Figure 614355DEST_PATH_IMAGE016
representing momentum and moment of momentum, respectively, as defined below:
Figure 615809DEST_PATH_IMAGE017
Figure 673764DEST_PATH_IMAGE018
wherein, the first and the second end of the pipe are connected with each other,
Figure 811484DEST_PATH_IMAGE019
is a matrix of the moment of inertia of the load,
Figure 539269DEST_PATH_IMAGE020
is a true mass matrix of the parafoil,
Figure 152653DEST_PATH_IMAGE021
is an additional mass matrix of the parafoil,
mid-point of two connection points of parafoil and load
Figure 358506DEST_PATH_IMAGE022
Velocity of position, in the geodetic coordinate system
Figure 616312DEST_PATH_IMAGE023
Is fixed, there is therefore a speed constraint:
Figure 905211DEST_PATH_IMAGE024
wherein the content of the first and second substances,
Figure 615678DEST_PATH_IMAGE025
、
Figure 625222DEST_PATH_IMAGE026
respectively representing the parafoil centroid and the load centroid to the midpoint
Figure 629213DEST_PATH_IMAGE027
The distance vector of (a) is calculated,
Figure 698800DEST_PATH_IMAGE028
is a coordinate system transformation matrix, relative pitching and relative yawing motions exist between the load and the parafoil,obtaining an angular velocity constraint relation:
Figure 896563DEST_PATH_IMAGE029
in the formula (I), the compound is shown in the specification,
Figure 834432DEST_PATH_IMAGE030
、
Figure 66830DEST_PATH_IMAGE031
representing relative pitch angle and relative yaw angle, respectively, and taking state variables
Figure 307319DEST_PATH_IMAGE032
To obtain a shape as
Figure 117012DEST_PATH_IMAGE033
The parafoil system dynamics model of (1).
According to the above-described embodiment, preferably, the control algorithm based on ADRC decoupling specifically comprises a lateral trajectory tracking controller and a longitudinal height controller,
(1) in the transverse controller, the single-side flap downward deviation is a control output, the error between the yaw angle of the parafoil system and the set yaw angle is used as a control input, and when the tracking is stable, the transverse tracking error converges to zero. The current yaw angle of the parafoil system is expressed in the form of a second order differential:
Figure 733938DEST_PATH_IMAGE034
wherein
Figure 820842DEST_PATH_IMAGE035
Which represents the angle of yaw of the vehicle,
Figure 356866DEST_PATH_IMAGE036
to indicate the unknown disturbance,
Figure 529221DEST_PATH_IMAGE037
indicating one-sided placketThe amount of the downward deviation of the wing,
Figure 684259DEST_PATH_IMAGE038
the amount of the output of the thrust force is represented,
Figure 314086DEST_PATH_IMAGE039
which represents the gain of the input, is,
Figure 896377DEST_PATH_IMAGE040
representing the lateral coupling coefficient, the above equation can be rewritten as:
Figure 556028DEST_PATH_IMAGE041
wherein
Figure 639391DEST_PATH_IMAGE042
Is the equivalent input gain of the input signal,
Figure 435309DEST_PATH_IMAGE043
，
Figure 454080DEST_PATH_IMAGE044
the above equation can be rewritten as a form of the expanded state space, as a full disturbance including a system disturbance and an external disturbance:
Figure 460082DEST_PATH_IMAGE045
will be provided with
Figure 222502DEST_PATH_IMAGE046
The complement is in an extended state and the state,
Figure 138505DEST_PATH_IMAGE047
the angle of yaw is represented as the angle of yaw,
Figure 423118DEST_PATH_IMAGE048
is a disturbance
Figure 57362DEST_PATH_IMAGE049
The first order differential of the method is used for constructing an extended state observer to solve unknown disturbance
Figure 357893DEST_PATH_IMAGE049
And (3) carrying out real-time observation, wherein a third-order extended state observer based on coupling compensation is constructed as follows:
Figure 393983DEST_PATH_IMAGE050
Figure 348032DEST_PATH_IMAGE051
wherein the content of the first and second substances,
Figure 469572DEST_PATH_IMAGE052
which represents the state that is being estimated and,
Figure 573794DEST_PATH_IMAGE053
，
Figure 57865DEST_PATH_IMAGE054
is the output quantity that is to be observed,
Figure 589341DEST_PATH_IMAGE055
the gain vector of the observer is used, and accordingly, the transverse decoupling control rate can be constructed:
Figure 932597DEST_PATH_IMAGE056
wherein, the first and the second end of the pipe are connected with each other,
Figure 965144DEST_PATH_IMAGE057
is a controller parameter, the coupling coefficient of the lateral controller
Figure 444667DEST_PATH_IMAGE040
The definition is as follows:
Figure 147044DEST_PATH_IMAGE058
Figure 603695DEST_PATH_IMAGE059
wherein the content of the first and second substances,
Figure 49720DEST_PATH_IMAGE060
，
Figure 383749DEST_PATH_IMAGE061
，
Figure 381661DEST_PATH_IMAGE062
are parameters in the matrix of additional quality,
Figure 699510DEST_PATH_IMAGE063
，
Figure 683647DEST_PATH_IMAGE064
respectively defined as the velocity and angular velocity of the parafoil system,
Figure 262396DEST_PATH_IMAGE065
respectively showing a roll angle, a pitch angle, and a yaw angle. Subscript
Figure 306575DEST_PATH_IMAGE066
Representing an umbrella body coordinate system; subscript
Figure 111720DEST_PATH_IMAGE067
Representing a relative coordinate system;
(2) in the longitudinal height controller, the design idea is similar to that of a transverse controller, the parafoil height control object is regarded as a second-order system,
Figure 758602DEST_PATH_IMAGE068
wherein the content of the first and second substances,
Figure 332803DEST_PATH_IMAGE016
representing altitude, the non-linear characteristics of the system and external disturbances being regarded as
Figure 547883DEST_PATH_IMAGE069
，
Figure 935265DEST_PATH_IMAGE070
Which represents the coefficient of longitudinal coupling,
Figure 526783DEST_PATH_IMAGE070
the gain of the input in the longitudinal direction is represented,
Figure 955490DEST_PATH_IMAGE071
representing the longitudinal thrust output, constructing an extended state observer:
Figure 200527DEST_PATH_IMAGE072
，
Figure 714685DEST_PATH_IMAGE073
here, the first and second liquid crystal display panels are,
Figure 844315DEST_PATH_IMAGE074
which represents the state that is being estimated and,
Figure 986583DEST_PATH_IMAGE054
is the output quantity that is to be observed,
Figure 543466DEST_PATH_IMAGE075
is the gain vector of the observer, the improved longitudinal decoupling control rate:
Figure 669554DEST_PATH_IMAGE076
Figure 602875DEST_PATH_IMAGE077
is a controller parameterThe number of the first and second groups is,
Figure 475016DEST_PATH_IMAGE078
is the reference height.
As shown in figure 2, a power parafoil hardware experiment platform comprises an parachute body and a load mechanism, wherein the parachute body comprises a parachute head 1 consisting of an upper wing surface and a lower wing surface, a parachute rope 3, a hanging strip 6 and a brake rope 2, a plurality of separated air chambers are arranged in the middle of the parachute head 1, an opening is formed in the front edge of the parachute head 1, the rear edge of the parachute head 1 is closed, a certain rigidity can be formed by inflation in the windward direction, the tail end of the parachute rope 3 is connected with the front edge and the rear edge of the parachute head 1, the brake rope 2 is connected with two sides of the rear edge of the parachute head 1, the load mechanism comprises a load box, a foaming wheel 9 positioned at the bottom of the load box and a protection frame 4 positioned on the side edge of the load box, the foaming wheel 9 can assist a power parafoil model to slide on the ground and has a certain damping performance, two sides of the load box are connected with the parachute rope 3 and the hanging strip 6 through a connecting rod 10, a rocker arm 8 connected with the brake rope 2 is arranged on the side edge, inside has set gradually outward equipped with storehouse 11 from last to down, control storehouse 12 and battery compartment 13, is equipped with screw 5 and brushless motor in the protective frame 4, and protective frame 4 is made by glass fiber, and external diameter 40cm has also avoided the winding of umbrella rope 3 when protecting screw 5, and screw 5 and brushless motor can provide forward thrust for power parafoil model, and rocking arm 8 links to each other with outer storehouse 11. Steering and trajectory tracking are achieved by pulling the brake rope 2. When the parachute is close to the ground, the brake ropes 2 on the two sides can be pulled down rapidly at the same time to generate larger air resistance, the speed of the whole parafoil system is reduced, and therefore the soft landing effect is achieved
According to the above embodiment, preferably, the external cabin is internally provided with a GPS, a wireless data transmission, a receiver, and a steering engine 7, the control cabin 12 is internally provided with a flight controller executing an ADRC decoupling control algorithm, and the battery cabin 13 is internally provided with a 10000mhA XT90 female lithium battery and a boat switch.
According to the above embodiment, preferably, the flight controller is a cube, the outer surface of the flight controller is provided with an aviation plug 15, a power socket 16 and two LED lamps 14, the aviation plugs 15 are sequentially provided with three from left to right, the three aviation plugs are respectively used for reading signals of a receiver, connecting wireless data transmission and connecting a GPS module, and the two LED lamps are respectively red and green and are both located above the aviation plug. The LED lamp 14 is used for indicating the state of the unmanned aerial vehicle, and the state is a remote control state when the red light is on; the green light is in an autonomous flight mode when being turned on, when the green light continuously flickers, the GPS successfully locks the star, the controlled quantity begins to be calculated, and the power socket 16 adopts a DC5.5 interface and can be connected with a 12-24 v direct-current power supply.
As shown in fig. 3, the flight controller needs to burn the control algorithm and the longitude and latitude and height information of the target point through the serial bus debugging interface SWD in advance. And by adopting an ADRC decoupling-based control algorithm, the PC sends initial simulation GPS and attitude information to the flight controller through an RS232 serial port at a period of 0.2s, and simultaneously starts to receive the control quantity fed back by the controller.
And the remote controller is switched to an autonomous flight mode, the flight controller sets hardware interruption, checks a fixed bit "$ GPGGA" of the GPS data, and stores the GPS data into a serial port cache variable if the fixed bit "$ GPGGA" of the GPS data is matched with the GPS data. And the control system calculates data and calculates the horizontal and vertical control quantities according to an ADRC decoupling control strategy. One part of the calculated control quantity is sent to a bottom layer execution mechanism comprising a steering engine and a brushless motor, and the other part of the calculated control quantity is sent to a PC through an RS232 serial port.
The PC checks the returned control quantity and converts the control quantity from the character string into a floating point number. The power parafoil model corresponds the control quantity to the flap downward deviation quantity and the thrust output in the model, so that the parafoil system state of the next stage is changed.
The invention has the beneficial effects that: the power parafoil semi-physical simulation system has a simple structure and is easy to disassemble, and hardware equipment used in a simulation environment is consistent with an actual flight environment; the 8-DOF parafoil dynamic model constructed by MATLAB can better match the aerodynamic performance of the parachute, the model parameters are easy to correct, and information such as a sliding-down ratio, a turning radius and the like can be compared with an actual flight environment; when the power parafoil semi-physical simulation system executes an actual flight test, the ground takeoff and landing can be realized under the condition of no assistance or less assistance, the safety is high, and the operation is easy; the small-sized power parafoil with the same scaled-down version can be used for preliminary verification of a large-sized space recovery parafoil, is convenient for replacing different control algorithms, verifies the effectiveness of the control algorithms, and has remarkable advantages in the aspect of parameter adjustment of a controller, repeatability utilization, short verification period and strong universality; the winged umbrella system flight controller is internally provided with a file storage unit, so that the pose information and the control information of the winged umbrella system can be recorded in real time, and the later data analysis and processing are facilitated; the parameter information of the model can be effectively utilized based on ADRC decoupling, the structure is clear, the problem of strong coupling between transverse control and longitudinal control of the parafoil system is solved, and the anti-interference capability is strong.
As shown in figure 5, the system has been subjected to actual flight experiments to verify the feasibility of the established system, and the average drop point error of the parafoil system in the experimental result is within 30 meters.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (8)

1. A semi-physical simulation system of a power parafoil based on an active disturbance rejection decoupling control strategy is characterized by comprising a control algorithm based on ADRC decoupling and an 8-DOF parafoil system dynamic model realized by Matlab software at a PC (personal computer), wherein the control algorithm based on ADRC decoupling is executed by a flight controller in a hardware platform and transmits control quantity calculated by the flight controller to the 8-DOF parafoil system dynamic model through an RS232 serial port, and the flight controller divides the whole hardware platform into seven modules through a lightweight real-time operating system mu C/OS-III, and comprises a starting module, a file storage module for storing information, a ground station interaction module, a GPS (global positioning system) acquisition module for reading parafoil information, a control quantity transmission module, a control quantity calculation module and a mode switching module.
2. The dynamic parafoil semi-physical simulation system based on the active disturbance rejection decoupling control strategy is characterized in that the file storage module stores information through an SD card, the mode switching module switches the flight mode through a remote controller and a receiver, the GPS acquisition module is respectively connected with a PC end and a GPS module, and the control quantity transmission task is respectively connected with a bottom layer execution mechanism and the PC end.
3. The dynamic parafoil semi-physical simulation system based on the active disturbance rejection decoupling control strategy according to claim 1 is characterized in that the 8-DOF parafoil dynamic model is established based on a Lagrange method and dynamic constraints, and simultaneously, relative pitching and relative yawing motions between a load and a parafoil are considered, so that current position information of the model can be stably sent to a flight controller in a simulation period, and a flight trajectory is displayed in real time, and the specific description is as follows:
Figure 61227DEST_PATH_IMAGE002
Figure 70771DEST_PATH_IMAGE004
Figure 183084DEST_PATH_IMAGE006
Figure 642884DEST_PATH_IMAGE008
wherein the subscript
Figure 575068DEST_PATH_IMAGE010
Representing a load coordinate system, subscripts
Figure 981778DEST_PATH_IMAGE012
Representing a parafoil coordinate system; upper label
Figure 807652DEST_PATH_IMAGE014
、
Figure 48140DEST_PATH_IMAGE016
、
Figure 347580DEST_PATH_IMAGE018
、
Figure 698926DEST_PATH_IMAGE020
Respectively represent aerodynamic force, gravity, umbrella rope pulling force and pushing force,
Figure 785831DEST_PATH_IMAGE022
and
Figure 56275DEST_PATH_IMAGE024
representing velocity and angular velocity, respectively;
Figure 963052DEST_PATH_IMAGE026
and
Figure 508302DEST_PATH_IMAGE028
representing the force and the moment, respectively,
Figure 449714DEST_PATH_IMAGE030
and
Figure 297584DEST_PATH_IMAGE032
representing momentum and moment of momentum, respectively, as defined below:
Figure 816290DEST_PATH_IMAGE034
Figure 775019DEST_PATH_IMAGE036
wherein the content of the first and second substances,
Figure 836516DEST_PATH_IMAGE038
is a matrix of the moment of inertia of the load,
Figure 215807DEST_PATH_IMAGE040
is a true mass matrix of the parafoil,
Figure 97175DEST_PATH_IMAGE042
is an additional mass matrix of the parafoil,
mid-point of two connection points of parafoil and load
Figure 859595DEST_PATH_IMAGE044
Velocity of the earth in the geodetic coordinate system
Figure 775598DEST_PATH_IMAGE046
Is fixed, there is therefore a speed constraint:
Figure 824325DEST_PATH_IMAGE048
wherein the content of the first and second substances,
Figure 458569DEST_PATH_IMAGE050
、
Figure 618155DEST_PATH_IMAGE052
respectively representing the parafoil centroid and the load centroid to the midpoint
Figure DEST_PATH_IMAGE053
The distance vector of (a) is calculated,
Figure 123086DEST_PATH_IMAGE055
relative pitching and relative yawing motion exists between the load and the parafoil for a coordinate system transformation matrix, and an angular velocity constraint relation is obtained:
Figure 483660DEST_PATH_IMAGE057
in the formula (I), the compound is shown in the specification,
Figure 198675DEST_PATH_IMAGE059
、
Figure 302897DEST_PATH_IMAGE061
representing relative pitch angle and relative yaw angle, respectively, taking state variables
Figure 193493DEST_PATH_IMAGE063
To obtain a shape as
Figure 85488DEST_PATH_IMAGE065
The parafoil system dynamics model of (1).
4. The dynamic parafoil semi-physical simulation system based on the active disturbance rejection decoupling control strategy is characterized in that the ADRC decoupling control algorithm specifically comprises a transverse trajectory tracking controller and a longitudinal height controller,
(1) in the lateral controller, the single-side flap down-deviation is a control output, the error between the yaw angle of the parafoil system and the set yaw angle is used as a control input, when the tracking is stable, the lateral tracking error converges to zero, and the current yaw angle of the parafoil system is expressed in the form of a second order differential:
Figure 428744DEST_PATH_IMAGE067
wherein
Figure 71078DEST_PATH_IMAGE069
Which represents the angle of yaw of the vehicle,
Figure 940814DEST_PATH_IMAGE071
to indicate the unknown disturbance,
Figure 643191DEST_PATH_IMAGE073
indicating the amount of one-sided flap downshifting,
Figure 208165DEST_PATH_IMAGE075
the amount of the output of the thrust force is represented,
Figure 778823DEST_PATH_IMAGE077
which represents the gain of the input and is,
Figure 644011DEST_PATH_IMAGE079
representing the lateral coupling coefficient, the above equation can be rewritten as:
Figure 517289DEST_PATH_IMAGE081
wherein
Figure 428613DEST_PATH_IMAGE083
Is the equivalent input gain of the input signal,
Figure 678329DEST_PATH_IMAGE085
，
Figure 398023DEST_PATH_IMAGE087
the above equation can be rewritten as a form of the expanded state space, as a full disturbance including a system disturbance and an external disturbance:
Figure DEST_PATH_IMAGE088
will be provided with
Figure DEST_PATH_IMAGE090
The complement is in an extended state and the state,
Figure DEST_PATH_IMAGE092
the angle of yaw is represented as the angle of yaw,
Figure DEST_PATH_IMAGE094
is a disturbance
Figure DEST_PATH_IMAGE096
The first order differential of the method is used for constructing an extended state observer to solve unknown disturbance
Figure 333881DEST_PATH_IMAGE096
And (3) carrying out real-time observation, wherein a third-order extended state observer based on coupling compensation is constructed as follows:
Figure DEST_PATH_IMAGE098
Figure 732501DEST_PATH_IMAGE100
wherein the content of the first and second substances,
Figure 254749DEST_PATH_IMAGE102
which represents the state that is being estimated and,
Figure 828950DEST_PATH_IMAGE104
，
Figure 168664DEST_PATH_IMAGE106
is the output quantity that is to be observed,
Figure 461105DEST_PATH_IMAGE108
the gain vector of the observer is used, and accordingly, the transverse decoupling control rate can be constructed:
Figure 787045DEST_PATH_IMAGE110
wherein the content of the first and second substances,
Figure 841850DEST_PATH_IMAGE112
is a controller parameter, the coupling coefficient of the lateral controller
Figure 227832DEST_PATH_IMAGE079
The definition is as follows:
Figure 476411DEST_PATH_IMAGE114
Figure DEST_PATH_IMAGE116
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE118
，
Figure DEST_PATH_IMAGE120
，
Figure DEST_PATH_IMAGE122
are parameters in the matrix of additional quality,
Figure DEST_PATH_IMAGE124
，
Figure DEST_PATH_IMAGE126
respectively defined as the velocity and angular velocity of the parafoil system,
Figure DEST_PATH_IMAGE128
respectively showing a roll angle, a pitch angle, and a yaw angle.
5. Subscript
Figure DEST_PATH_IMAGE130
Representing an umbrella body coordinate system; subscript
Figure DEST_PATH_IMAGE132
Representing a relative coordinate system;
(2) in the longitudinal height controller, the design idea is similar to that of a transverse controller, a parafoil height control object is regarded as a second-order system,
Figure DEST_PATH_IMAGE134
wherein, the first and the second end of the pipe are connected with each other,
Figure 153511DEST_PATH_IMAGE032
representing altitude, the non-linear characteristics of the system and external disturbances being regarded as
Figure DEST_PATH_IMAGE136
，
Figure DEST_PATH_IMAGE138
Which represents the coefficient of longitudinal coupling,
Figure 30200DEST_PATH_IMAGE138
the gain of the longitudinal input is represented,
Figure 321504DEST_PATH_IMAGE140
representing the longitudinal thrust output, constructing an extended state observer:
Figure 447592DEST_PATH_IMAGE142
，
Figure DEST_PATH_IMAGE144
here, the first and second liquid crystal display panels are,
Figure DEST_PATH_IMAGE146
which represents the state that is being estimated and,
Figure 849755DEST_PATH_IMAGE147
is the amount of output that is being observed,
Figure 112109DEST_PATH_IMAGE149
is the gain vector of the observer, the improved longitudinal decoupling control rate:
Figure 839893DEST_PATH_IMAGE151
Figure DEST_PATH_IMAGE153
is a parameter of the controller that is,
Figure DEST_PATH_IMAGE155
is the reference height.
6. A power parafoil hardware experiment platform for realizing the semi-physical simulation system of the power parafoil based on the active-disturbance-rejection decoupling control strategy, which is characterized by comprising an parachute body and a load mechanism, wherein the parachute body comprises a parachute head consisting of an upper wing surface and a lower wing surface, a parachute rope, a sling and a brake rope, a plurality of separated air chambers are arranged in the middle of the parachute head, the front edge of the parachute head is provided with an opening, the rear edge of the parachute head is closed, the tail end of the parachute rope is connected with the front edge and the rear edge of the parachute head, the brake rope is connected with two sides of the rear edge of the parachute head, the load mechanism comprises a load box, a foaming wheel positioned at the bottom of the load box and a protective frame positioned on the side edge of the load box, two sides of the load box are connected with the parachute rope and the sling through connecting rods, the side edge is provided with a rocker arm connected with the brake rope, and a cabin outer device is sequentially arranged inside from top to bottom, the device comprises a control bin and a battery bin, wherein a propeller and a brushless motor are arranged in the protective frame, and the rocker arm is connected with an external bin.
7. The power parafoil hardware experiment platform of claim 5, wherein the inside of the external cabin is provided with a GPS, a wireless data transmission, a receiver and a steering engine, the inside of the control cabin is provided with a flight controller for executing an ADRC decoupling control algorithm, and the inside of the battery cabin is provided with a 10000mhA XT90 female lithium battery and a ship-shaped switch.
8. A power parafoil hardware experiment platform according to claim 6, wherein the whole flying controller is a cube, the outer surface of the flying controller is provided with an aviation plug, a power socket and two LED lamps, the aviation plug is sequentially provided with three plugs from left to right and is respectively used for reading a receiver signal, connecting a wireless data transmission and connecting a GPS module, and the two LED lamps are respectively red and green and are both positioned above the aviation plug.
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