Parafoil-based UAV Recovery System Under Random Initial Conditions

doi:10.12382/bgxb.2021.0450

Abstract

Abstract:

A parafoil recovery system consists of a flexible parafoil wing and a payload. It has unique advantages such as low requirements for landing ground, flight stability, and flared landing. As a result, this system is indispensable for airdrop supplies and recovery of unmanned aerial vehicles (UAVs). Considering that the parafoil system relies on a flexible wing for lift, it exhibits complicated dynamic characteristics. Tracking the trajectory of such a flexible aircraft is much more challenging than tracking a traditional rigid one. For solving this problem, this study first analyzes the forces between the flexible wing and the payload, and builds an accurate dynamic model of the parafoil recovery system. Then, based on the active disturbance rejection control theory, the horizontal controller and homing strategy are designed to realize the homing control under random initial condition. The UAV will be transported to the target position from a random initial yaw angle. Lastly, the results of the flight tests indicate that the simplified model can provide the simulation environment for the actual flight test, and realize the adjustment of the controller parameters. The average landing error of the parafoil system is 21.9 m in fifteen homing control tests.

Key words: parafoil recovery system, precision aerial delivery system, homing control, active disturbance rejection control, dynamic modeling

SUN Hao, SUN Qinglin, SUN Mingwei, CHEN Zengqiang. Parafoil-based UAV Recovery System Under Random Initial Conditions[J]. Acta Armamentarii, 2023, 44(3): 718-727.

Figures/Tables 11

References 24

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编号	初始高度	初始误差
20201114-1	90.4	100.3	22.5
20201114-2	119.7	195.2	28.1
20201114-3	130.4	101.3	24.5
20201115-1	80.1	133.4	27.4
20201115-2	125.8	198.9	18.9
20201115-3	116.3	210.6	42.5
20201115-4	102.2	187.0	11.6
20201115-5	111.2	211.4	24.7
20201115-6	58.8	152.5	8.5
20201115-7	84.1	229.3	19.5
20201115-8	75.2	231.9	19.3
20201115-9	107.2	269.8	16.6
20201116-1	286.1	239.5	33.5
20201116-2	210.7	247.5	5.2
20201116-3	266.7	258.1	26.2

编号	初始高度	初始误差
20201114-1	90.4	100.3	22.5
20201114-2	119.7	195.2	28.1
20201114-3	130.4	101.3	24.5
20201115-1	80.1	133.4	27.4
20201115-2	125.8	198.9	18.9
20201115-3	116.3	210.6	42.5
20201115-4	102.2	187.0	11.6
20201115-5	111.2	211.4	24.7
20201115-6	58.8	152.5	8.5
20201115-7	84.1	229.3	19.5
20201115-8	75.2	231.9	19.3
20201115-9	107.2	269.8	16.6
20201116-1	286.1	239.5	33.5
20201116-2	210.7	247.5	5.2
20201116-3	266.7	258.1	26.2