9 dof Parafoil/Payload Simulator Development and Validation

Mooij, Erwin; Wijnands, Quirien; Schat, Bart

doi:10.2514/6.2003-5459

Cited by 33 publications

(14 citation statements)

References 2 publications

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“…The higher DOF models are also developed to measure a more detailed movement, including 8-DOF models [12,14], 9-DOF models [14,15], 10-DOF models [16] and 12-DOF models [17]. But they are all too complex to use for the system's limit channel of inputs.…”

Section: Researches 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: Researches 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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“…Notice that the derivative of p S appears in both Eq. (9) and (12), but is known through the kinematic constraint in the first row of Eq. 7.…”

Section: A Kinematics and Dynamicsmentioning

confidence: 99%

“…Later both Slegers and Costello then Mooij, Wijnands, and, Schat developed 9 DOF models for parafoil systems using different approachs. 11,12 Slegers and Costello used Newtonian dynamics to form the equations of motion resulting in the internal constraint forces at the parafoil and payload connection being automatically solved during simulation. Mooij, Wijnands, and, Schat used analytical dynamics requiring artificial constraint stabilization to satisfy the constraint at the connection point.…”

mentioning

confidence: 99%

Effects of Canopy-Payload Relative Motion on Control of Autonomous Parafoils

Slegers

2009

20th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar

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An 8 degree-of-freedom model is developed that accurately models relative pitching and yawing motion of a payload with respect to a parafoil. Constraint forces and moments are found analytically rather than using artificial constraint stabilization. A turn rate controller common in precision placement algorithms is used to demonstrate that relative yawing motion of the payload can result in persistent oscillations of the system. A model neglecting relative payload yawing failed to predict the same oscillations. It is shown that persistent oscillations can be eliminated by reduction of feedback gains; however, resulting tracking performance is poor. A reduced order linear model is shown to be able to adequately predict relative payload dynamics for the proposed turn rate controller on the full 8 degree-offreedom system.

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“…Mooij et al described detailed mathematical modeling of 9-DoF parafoil and payload system. 65 The parafoil system was modeled as a rigid parafoil and rigid store that were connected to each other by rigid suspension lines and a riser. Included in the riser was a hinge that allowed free three axes rotation of the parafoil with respect to the store and it transfers only forces, but no moment.…”

Section: Advanced Modelingmentioning

confidence: 99%

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

Yakimenko

2005

18th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar

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The paper presents an initial move to develop a scalable high-degree-of-freedom model of the parafoilpayload system. The intention is to develop the tool capable of: i) determining basic system's geometry parameters by observing the video data of the real descend, ii) readjusting the nominal aerodynamic and control coefficients incorporated into the well-established equations of motions, and iii) performing model identification to tune numerous relative variables to achieve the best fit with the real drop data if available. Since in the certain way such a tool would represent some kind of generalization of the modeling efforts undertaken so far, the present paper starts from a comprehensive review of publications devoted to the modeling of parafoil-payload systems. The paper then briefly addressed the current stage of the development of a scalable model. In anticipation of real drop data to validate the approach paper ends with conclusions.

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9 dof Parafoil/Payload Simulator Development and Validation

Cited by 33 publications

References 2 publications

Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle

Effects of Canopy-Payload Relative Motion on Control of Autonomous Parafoils

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

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