A Flight Control System for Parafoils Based on Improved PID Control Approach
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- 英文论文题名：A Flight Control System for Parafoils Based on Improved PID Control Approach
- 论文作者：Hao Sun ; Qinglin Sun ; Jin Tao ; Shuzhen Luo ; Zhengqiang Chen
- 英文论文作者：Hao Sun ; Qinglin Sun ; Jin Tao ; Shuzhen Luo ; Zhengqiang Chen ; School of Computer and Control Engineering ; Nankai University
- 年：2017
- 作者机构：School of Computer and Control Engineering,Nankai University;
- 英文论文关键词：Parafoil ; precision aerial delivery system ; PID ; linear extended state observer
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273;V244.21;V249.1
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：544k
- 原文格式：D
- 会议级别：全国
摘要
The PID control technique which is improved by linear extended state observer(LESO) is applied to the design of the flight control system for parafoils with Global Position System(GPS). Firstly, in this paper, the nonlinear dynamics model of the parafoil system is outlined. Then, method of guidance and the theory of LESO is presented in detail. Next, the control system using improved PID control technique is introduced integrally. The results of simulation and flight test are presented and analyzed at the end of the paper. The results of the improved controller show the great superiority to the traditional PID controller. In the flight test, the error of the trajectory tracking is less than twenty meters and the control strategy has great application value on the precision aerial delivery system.
The PID control technique which is improved by linear extended state observer(LESO) is applied to the design of the flight control system for parafoils with Global Position System(GPS). Firstly, in this paper, the nonlinear dynamics model of the parafoil system is outlined. Then, method of guidance and the theory of LESO is presented in detail. Next, the control system using improved PID control technique is introduced integrally. The results of simulation and flight test are presented and analyzed at the end of the paper. The results of the improved controller show the great superiority to the traditional PID controller. In the flight test, the error of the trajectory tracking is less than twenty meters and the control strategy has great application value on the precision aerial delivery system.
The PID control technique which is improved by linear extended state observer(LESO) is applied to the design of the flight control system for parafoils with Global Position System(GPS). Firstly, in this paper, the nonlinear dynamics model of the parafoil system is outlined. Then, method of guidance and the theory of LESO is presented in detail. Next, the control system using improved PID control technique is introduced integrally. The results of simulation and flight test are presented and analyzed at the end of the paper. The results of the improved controller show the great superiority to the traditional PID controller. In the flight test, the error of the trajectory tracking is less than twenty meters and the control strategy has great application value on the precision aerial delivery system.
引文
[1]D.Carter,S.George,P.Hattis,Autonomous large parafoil guidance,navigation,and control system design status,AIAA Paper,pp.2514,2007.
[2]V.Devalla,A.K.Mondal,O.Prakash,Performance analysis of a powered parafoil unmanned aerial vehicle using open loop flight test results and analytical results,2015 Workshop on Research,Education and Development of Unmanned Aerial Systems(RED-UAS)IEEE,2015:369-376.
[3]J.Tao,Q.L.Sun,P.Tan.Autonomous homing control of a powered parafoil with insufficient altitude,ISA transactions,pp.65:516-524,2016.
[4]J.Tao,Q.L.Sun,P.L.Tan.et al.Active disturbance rejection control(ADRC)-based autonomous homing control of powered parafoils.Nonlinear Dynamics,pp.86(3):1461-1476,2016.
[5]T.Bennett,R.Fox.Design,Development and Flight Testing of the NASA X-38 7500 ft2 Parafoil Recovery System,AIAA Paper,pp.2107:2003,2003.
[6]T.Jann.Aerodynamic model identification and GNC design for the parafoil-load system ALEX,AIAA paper,2001.
[7]S.Kaesemeyer.Testing of Guided Parafoil Cargo Delivery Systems.AIAA Paper,pp.1668:23-26,2005.
[8]N.Slegers,M.Costello.Model predictive control of a parafoil and payload system.Journal of Guidance,Control,and Dynamics,pp.28(4):816-821,2005.
[9]W.Gockel.Concept studies of an autonomous GNC system for gliding parachute,AIAA Aerodynamic Decelerator Systems Technology Conference,pp.1997:139-149,1997.
[10]I.Kaminer,O.Yakimenko.Development of control algorithm for the autonomous gliding delivery system,AIAA Paper,pp.2116:2003,2003.
[11]J.Rogers,N.Slegers,Robust parafoil terminal guidance using massively parallel processing,Journal of Guidance,Control,and Dynamics,pp.36(5):1336-1345,2013.
[12]M.Ward,M.Costello,Adaptive glide slope control for parafoil and payload aircraft,Journal of Guidance,Control,and Dynamics,pp.36(4):1019-1034,2013.
[13]B.J.Randemacher,L.ping,A.L.Strahan.In-Flight Trajectory Planning and Guidance for Autonomous Parafoils,Journal of Guidance,Control,and Dynamics,Vol.32,No.6,pp.1697-1712,2009.
[14]B.S.Chiel,C.Dever.Autonomous Parafoil Guidance in High Winds.Journal of Guidance,Control,and Dynamics,pp.38(5):963-969,2014.
[15]Lee S J,Conner J,Arena A S.Three Dimensional Optimum Path Calculation for Autonomous Parafoil Vehicles in High Altitude Ballooning[C],AIAA Guidance,Navigation,and Control Conference,2016:0104,2016.
[16]Zou C,Liu B,Duan S,et al.Influence of delay on system stability and delay optimization of grid-connected inverters with LCL filter[J],IEEE Transactions on Industrial Informatics,10(3):1775-178 s,2014
[17]J.Q.Han.ADRC Controller and its application,Control and Decision,pp.1:19-23,1998.
[18]S.M??ller,O.Wagner,G.Sachs.A high-fidelity nonlinear multibody simulation model for parafoil systems,AIAA Paperpp,2120:19-22,2003.
[19]B.Z.Guo,Z L Zhao.On convergence of non-linear extended state observer for multi-input multioutput systems with uncertainty,IET Control Theory and Applications,pp.6(15):2375-2386,2012.
[20]Guo B Z,Zhao Z.On the convergence of an extended state observer for nonlinear systems with uncertainty[J],Systems&Control Letters,60(6):420-430,2011.
[21]E.Zhu,Q.L.Sun,P.L.Tan,et al.Modeling of powered parafoil based on Kirchhoff motion equation,Nonlinear Dynamics,pp.79(1):617-629,2015.
[22]R.Miklosovic,A.Radke,Z.Gao.Discrete implementation and generalization of the extended state observer.2006American Control Conference.IEEE,2006
[2]V.Devalla,A.K.Mondal,O.Prakash,Performance analysis of a powered parafoil unmanned aerial vehicle using open loop flight test results and analytical results,2015 Workshop on Research,Education and Development of Unmanned Aerial Systems(RED-UAS)IEEE,2015:369-376.
[3]J.Tao,Q.L.Sun,P.Tan.Autonomous homing control of a powered parafoil with insufficient altitude,ISA transactions,pp.65:516-524,2016.
[4]J.Tao,Q.L.Sun,P.L.Tan.et al.Active disturbance rejection control(ADRC)-based autonomous homing control of powered parafoils.Nonlinear Dynamics,pp.86(3):1461-1476,2016.
[5]T.Bennett,R.Fox.Design,Development and Flight Testing of the NASA X-38 7500 ft2 Parafoil Recovery System,AIAA Paper,pp.2107:2003,2003.
[6]T.Jann.Aerodynamic model identification and GNC design for the parafoil-load system ALEX,AIAA paper,2001.
[7]S.Kaesemeyer.Testing of Guided Parafoil Cargo Delivery Systems.AIAA Paper,pp.1668:23-26,2005.
[8]N.Slegers,M.Costello.Model predictive control of a parafoil and payload system.Journal of Guidance,Control,and Dynamics,pp.28(4):816-821,2005.
[9]W.Gockel.Concept studies of an autonomous GNC system for gliding parachute,AIAA Aerodynamic Decelerator Systems Technology Conference,pp.1997:139-149,1997.
[10]I.Kaminer,O.Yakimenko.Development of control algorithm for the autonomous gliding delivery system,AIAA Paper,pp.2116:2003,2003.
[11]J.Rogers,N.Slegers,Robust parafoil terminal guidance using massively parallel processing,Journal of Guidance,Control,and Dynamics,pp.36(5):1336-1345,2013.
[12]M.Ward,M.Costello,Adaptive glide slope control for parafoil and payload aircraft,Journal of Guidance,Control,and Dynamics,pp.36(4):1019-1034,2013.
[13]B.J.Randemacher,L.ping,A.L.Strahan.In-Flight Trajectory Planning and Guidance for Autonomous Parafoils,Journal of Guidance,Control,and Dynamics,Vol.32,No.6,pp.1697-1712,2009.
[14]B.S.Chiel,C.Dever.Autonomous Parafoil Guidance in High Winds.Journal of Guidance,Control,and Dynamics,pp.38(5):963-969,2014.
[15]Lee S J,Conner J,Arena A S.Three Dimensional Optimum Path Calculation for Autonomous Parafoil Vehicles in High Altitude Ballooning[C],AIAA Guidance,Navigation,and Control Conference,2016:0104,2016.
[16]Zou C,Liu B,Duan S,et al.Influence of delay on system stability and delay optimization of grid-connected inverters with LCL filter[J],IEEE Transactions on Industrial Informatics,10(3):1775-178 s,2014
[17]J.Q.Han.ADRC Controller and its application,Control and Decision,pp.1:19-23,1998.
[18]S.M??ller,O.Wagner,G.Sachs.A high-fidelity nonlinear multibody simulation model for parafoil systems,AIAA Paperpp,2120:19-22,2003.
[19]B.Z.Guo,Z L Zhao.On convergence of non-linear extended state observer for multi-input multioutput systems with uncertainty,IET Control Theory and Applications,pp.6(15):2375-2386,2012.
[20]Guo B Z,Zhao Z.On the convergence of an extended state observer for nonlinear systems with uncertainty[J],Systems&Control Letters,60(6):420-430,2011.
[21]E.Zhu,Q.L.Sun,P.L.Tan,et al.Modeling of powered parafoil based on Kirchhoff motion equation,Nonlinear Dynamics,pp.79(1):617-629,2015.
[22]R.Miklosovic,A.Radke,Z.Gao.Discrete implementation and generalization of the extended state observer.2006American Control Conference.IEEE,2006