On the Development of a Scalable 8-DoF Model for a Generic Parafoil-Payload Delivery System

Yakimenko, Oleg A.

doi:10.2514/6.2005-1665

Cited by 33 publications

(10 citation statements)

References 48 publications

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“…However, PPUAV has the characteristics of complexity, uncertainty, nonlinearity, time-varying, control delay and large inertia, and is easily affected by the atmospheric environment [4]. PPUAV is strongly influenced by apparent mass because of its light weight [5]. A unique feature of PPUAV is the high degree of variability of flight dynamic, which make its practical applications to be a great challenge [6].…”

Section: A Introduction Of Ppuavmentioning

confidence: 99%

Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

Lee

et al. 2016

2016 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

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Powered Parafoil Unmanned Aerial Vehicle (PPUAV), which is suitable for large-area and long-time surveillance and airdrop missions, is a type of innovative UAV. It consists of parafoil canopy, payload and suspension lines, and has the advantages of simple structure, low cost and high load capacity. However, due to the apparent mass and flexible connection, it is hard to build an accurate model for controller design for PPUAV. Normal PID controller is unsuitable for PPUAV because of the inputs' coupling effects on outputs. This paper presents an applicable method of modeling to capture the main characteristics of PPUAV, and the proposed model is validated by actual flight test. To deal with the coupling effect, a novel control method based on energy is proposed. The method has clear adjustment procedures and is more practical and effective than normal PID controller. The simulation results show its effectiveness on PPUAV.

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Section: A Introduction Of Ppuavmentioning

confidence: 99%

Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

Lee

et al. 2016

2016 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

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“…Flight test results since then have been scarce, but extensive work has been performed on the simulation of parafoil and payload aircraft [2][3][4][5][6][7]. The standard control mechanisms for the powered parafoils which have been studied in the past are trailing edge brake deflection and throttle.…”

Section: Introductionmentioning

confidence: 99%

Parametric Study of Powered Parafoil Flight Dynamics

Ward

Culpepper

Costello

2012

AIAA Atmospheric Flight Mechanics Conference

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Powered parafoils provide a unique capability to deliver large payloads with very short takeoff and landing field requirements. While these aircraft have been studied extensively in simulation, these simulations have focused on using only trailing edge brake deflection and throttle as control mechanisms. In addition, there is little actual flight test data available for these aircraft. The current work provides an examination of the flight dynamics of powered parafoils incorporating variable canopy incidence angle in addition to the standard control channels. Simulation results using a 9 degree of freedom model are presented, and it is the focus of an ongoing flight test program to validate these results. Nomenclatures coefficients for apparent mass and inertia b = Canopy span β = Sideslip angle P D C , = Payload drag coefficient i D i L C C , , , = Lift and drag coefficients of ith canopy element χ = Azimuth angle (course over ground) d = Canopy arc radius i δ = Dimensionless control deflection for the ith canopy element ] [I = Identity matrix ] [ T I = Total system inertia matrix AM AM AM N M L , , = Components of apparent mass moment vector in the body reference frame Λ = Canopy arc angular span m = Total system mass r q p , , = Angular velocity components in the body reference frame r q p, , = Angular velocity components in the canopy reference frame ψ θ φ , , = Euler roll, pitch and yaw angles ] [ ], [ C B S S ω ω = Skew symmetric cross product operator for angular velocity expressed in body and canopy frames ] [ , B M cg S = Skew symmetric cross product operator for distance vector from system CG to apparent mass center ] [ , B P cg S = Skew symmetric cross product operator for distance vector from system CG to payload ] [ , Bi cg S = Skew symmetric cross product operator for distance vector from system CG to ith canopy element

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“…Very detailed and careful review of different models of parafoil-payload system and paraglider was carried out in paper of Yakimenko [14]. Such models are necessary for a rational choice of the basic geometrical and mass parameters of system, for readjusting nominal aerodynamic coefficients, parameters of control systems, at processing of results of flight tests and identification of mathematical models such vehicles.…”

Section: Introductionmentioning

confidence: 99%

Control Algorithms of the Longitude Motion of the Powered Paraglider

Aoustin

Martynenko

2012

Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Appl

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The design of remotely controlled and autonomous Unmanned Aerial Vehicles (UAVs) is an actual direction in modern aircraft development. A promising aircraft of this type is a powered paraglider (PPG). In this paper, a new mathematical model is suggested for the paraglider’s longitudinal motion aimed at the study of PPG dynamics and the synthesis of its automatic control. PPG under consideration is composed of a wing (canopy) and a load (gondola) with propelling unit. The PPG mechanical model is constructed as the system of two rigid bodies connected by an elastic joint with four degrees of freedom that executes a 2D motion in a vertical plane. The details of PPG’s motion characteristics including steady-states regimes and its stability have been studied. A nonlinear control law, based on the partial feedback linearization, has been designed for the thrust of PPG. Simulation results are analyzed. Simulation tests show that the internal dynamics are stable near the steady-state flight regime.

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On the Development of a Scalable 8-DoF Model for a Generic Parafoil-Payload Delivery System

Cited by 33 publications

References 48 publications

Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

Parametric Study of Powered Parafoil Flight Dynamics

Control Algorithms of the Longitude Motion of the Powered Paraglider

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