| As parafoil precise technology is more and more widely used nowadays,the demand for parafoils' charactrestic is becoming more and more strict.Based on engineering parctice,users usually hope that parafoil system can not only reahch target accurately,but also satisfy some special demand,such as eliminating the distrasction of natural wind,landing on a moving target,avoiding danger zone and so on.However,relative theoretical study is not so mature that can meet the requirement of engineering.This paper mainly do some research on movement characteristics and path planning of parafoil,some results with guiding significance on engineering are gained.Firstly,based on coordinate Lagrange method,6DOF rigid model is built,while 8DOF model is also built,which consider the relative motion between payload and parafoil.Moving characteristic is been analyzied,of which gliding,turning and flared landing is included.Besides,the relative motion between the parafoil and payload is also been analyzied.These two models are comparaed.Then,aimed at moving target problem for advancing ship on the sea,adopting Kalman fitering method to predict and amend wind model,applying five-stages segmented homing strategy,asking for parafoil's avoiding construction on the ship and landing on the parking apron of ship,using the multi-objective optimization algorithm based on deconposition,homing trajectory is designed.The simulation result proves moving target airdrop is feasible in theory.At last,based on engineering requirements,4DOF model is built,and accessible domain is calculated and analysed with the help of given course angle rate.Choosing a target poin in the domain and considering abnormal state and requirement of avoiding obstacles,optimal trajerctory is got.The simulation result shows that precise airdrop can be achieved if design is reasonable with a certain range.The work of this paper provides theorical gist of building dynamic model and designing homing strategy for parafoil. |
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