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翼伞系统在实际环境中飞行时易受到风场以及地形环境等复杂干扰的影响,无法精确归航,控制难度较大。针对该问题,提出了一种针对复杂多约束条件的翼伞系统的最优控制轨迹规划方法,可同时实现翼伞系统在复杂环境下逆风对准、精确着陆以及控制量全局最优的控制目标。首先,建立了风场干扰下的翼伞系统模型;然后,通过引入地形环境曲面,将复杂环境转化为实时路径约束,将轨迹着陆偏差以及逆风雀降转化为终端约束,并考虑控制量消耗最小为目标函数,以此将复杂环境下的翼伞系统的轨迹优化转化为一系列非线性的带有复杂约束的最优控制问题;最后,采用高斯伪谱法将多约束最优控制问题转化为易于求解的非线性规划问题。通过设立3组复杂环境仿真实例和实验验证,表明本文方法使翼伞系统在多种较恶劣的复杂环境中有效应对多类约束条件,规划出控制量全局最优的可行轨迹。与已有的混沌粒子群优化算法相比,本文方法具有较好的最优性和较高的精度。
Wing umbrella system in the actual environment of flight susceptible to wind and terrain environment and other complex interference, can not be accurately homing, control more difficult. Aiming at this problem, an optimal control trajectory planning method for wing parachute system with complex and multi-constraint conditions is proposed, which can achieve the optimal control objectives of head parachute system in upwind alignment, exact landing and control volume in complex environment . Firstly, the wing parachute system model under wind disturbance was established. Then, the terrain environment surface was introduced to convert the complex environment into real-time path constraints, and the trajectory landing deviations and anti-cyclone declines were transformed into terminal constraints. Considering that the control volume was minimized As the objective function, the trajectory optimization of the parafoil system in complex environment is transformed into a series of nonlinear optimal control problems with complex constraints. Finally, the Gaussian pseudospectral method is used to convert the multi-constrained optimal control problem into Easy to solve nonlinear programming problem. Through the establishment of three sets of complex environment simulation examples and experimental verification, this paper shows that the method of this paper makes the parafoil system effectively deal with many kinds of constraints in a variety of harsh complex environments, and plans the feasible trajectory of the optimal global control. Compared with the existing chaos particle swarm optimization algorithm, this method has better optimality and higher precision.