Dynamic Modeling and Experimental Verification of Powered Parafoil With Two Suspending Points

This paper presents the dynamic modeling process of a powered parafoil (PPF). The PPF is composed of parafoil and payload equipped with a propeller. The payload is suspended to the parafoil via two suspending points, therefore the motion of the payload relative to the parafoil must be considered in the dynamic and control study. The proposed model of the PPF is derived from the Lagrangian equations and dynamic constraints with six degree of freedom (DOF) of the parafoil and two DOF of the payload. In the modeling process, the velocity, angular rate and force constraints are introduced and the detailed modeling process is provided. Time-domain response of the PPF under different conditions are calculated and the dynamic characteristics of the PPF are analyzed. A series of simulations are implemented to illustrate the manipulation characteristics. Furthermore, the dynamic model is validated by comparing the simulation results with the experimental data.

[1]  Er-lin Zhu,et al.  Active Disturbance Rejection Control Design for Trajectory Tracking of Parafoil and Payload System , 2016 .

[2]  Seong-Jin Lee,et al.  Autonomous Parafoil Return-to-Point Vehicle for High Altitude Ballooning , 2014 .

[3]  Rui Guo,et al.  Dynamic Modeling and Simulation of Powered Parafoil Airdrop Process , 2017, 2017 5th International Conference on Mechanical, Automotive and Materials Engineering (CMAME).

[4]  Qinglin Sun,et al.  Accurate flight path tracking control for powered parafoil aerial vehicle using ADRC-based wind feedforward compensation , 2019 .

[5]  Yoshimasa Ochi,et al.  Modeling and Simulation of Nonlinear Dynamics of a Powered Paraglider , 2008 .

[6]  Hao Sun,et al.  A hybrid control approach for powered parafoil combining active disturbance rejection control and unbalanced load compensation , 2018, J. Syst. Control. Eng..

[7]  Qinglin Sun,et al.  On decoupling trajectory tracking control of unmanned powered parafoil using ADRC-based coupling analysis and dynamic feedforward compensation , 2018 .

[8]  Sun Qing-lin Chen Zeng-qiang Tan Pan-long.  Application of active disturbance rejection control in trajectory tracking of powered parafoil system , 2017 .

[9]  Qinglin Sun,et al.  Characteristic model–based generalized predictive control and its application to the parafoil and payload system , 2019, Optimal Control Applications and Methods.

[10]  Guangming Xie,et al.  A Generalized Predictive Control-Based Path Following Method for Parafoil Systems in Wind Environments , 2019, IEEE Access.

[11]  Jonathan Rogers,et al.  Experimental investigation of stochastic parafoil guidance using a graphics processing unit , 2015 .

[12]  Sean McCann,et al.  Leaflet Delivery System , 2003 .

[13]  Huang Jun,et al.  4-DOF longitudinal dynamic simulation of powered-parafoil , 2014 .

[14]  Nathan Slegers,et al.  Optimal Control for Terminal Guidance of Autonomous Parafoils , 2009 .

[15]  Erwin Mooij,et al.  9 dof Parafoil/Payload Simulator Development and Validation , 2003 .

[16]  Mark Costello,et al.  Model Predictive Control of a Parafoil and Payload System , 2004 .

[17]  Jin Tao,et al.  Flexible modelling and altitude control for powered parafoil system based on active disturbance rejection control , 2019, Int. J. Syst. Sci..

[18]  Gottfried Sachs,et al.  A High-fidelity Nonlinear Multibody Simulation Model for Parafoil Systems , 2003 .

[19]  Mark Costello,et al.  Nonlinear Model Predictive Control Technique for Unmanned Air Vehicles , 2006 .

[20]  Yu Gang.  Nine-degree of Freedom Modeling and Flight Dynamic Analysis of Parafoil Aerial Delivery System☆ , 2015 .

[21]  Y. Ochi,et al.  Linear model of a powered paraglider and observer design , 2008, 2008 SICE Annual Conference.

[22]  Om Prakash,et al.  Guidance, Navigation and Control of a Powered Parafoil Aerial Vehicle , 2016 .

[23]  Jin Tao,et al.  Autonomous homing control of a powered parafoil with insufficient altitude. , 2016, ISA transactions.

[24]  Christiaan Redelinghuys,et al.  A Flight Simulation Algorithm for a Parafoil Suspending an Air Vehicle , 2007 .