伞翼飞行器测控一体化设计研究
Research on the Integrated Design of TT & C of Parafoil-Craft

针对伞翼飞行器柔性大变形、非线性控制的特殊性和复杂性问题，本文提出了一种测控一体化设计方法。将传统机载飞控中的大部分飞行控制软件移植到地面站，利用地面站的软硬件资源实现飞行控制解算，并通过测控链路，将飞控指令上传至机载飞控端。这种一体化设计方法不仅简化了机载飞控端硬件设计的难度，而且充分利用了地面站软件和硬件的能力，使飞控能力更加强大便捷。为此，本文首先建立了伞翼飞行器的六自由度动力学模型，根据水平通道和垂直通道控制的需求，分别实现了LADRC控制器，完成了测控一体化中飞控软硬件及地面站软件的研制。仿真模拟和飞行试验结果表明，所设计的测控一体化方案能够有效地实现伞翼飞行器的自主飞行控制。
In order to solve the particularity and complexity of the nonlinear control of flexible and large deformation of parafoil-craft, an integrated design method of TT & C was proposed in this paper. Most of the flight control software in the traditional airborne flight control is transplanted to the ground station, the flight control solution is realized by using the software and hardware resources of the ground station, and the flight control instructions are uploaded to the airborne flight control terminal through the TT & C link. This integrated design method not only simplifies the difficulty of designing the hardware of the airborne flight control terminal, but also makes full use of the software and hardware capabilities of the ground station to make the flight control capability more powerful and convenient. To this end, this paper first establishes a 6-DOF dynamic model of parafoil-craft, implements LADRC controllers according to the requirements of horizontal channel and vertical channel control, and completes the development of a software and hardware system of flight control and ground station software in integrated TT & C. The simulation and flight test results show that the designed integrated TT & C scheme can effectively realize the autonomous flight control of the parafoil-craft.