Modeling of Small UAV Parachute Recovery System Based on Lagrangian Method

Wu, Han; Wang, Zhengping; Zhou, Zhou; Jia, Jieyu; Wang, Rui

doi:10.1109/icma.2019.8816611

Cited by 4 publications

(2 citation statements)

References 10 publications

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“…Moreover, the parachute is also a common method for drone recovery [4]. In [5], the motion equations of a parachute recovery system for small UAVs were derived, which improved the control accuracy of the parachute system. A parachute system with fall detection based on the accelerometer-gyroscope MPU 6050 was designed in [6] to safely land the drone in case of an acci-dent, attack, or loss of control.…”

Section: Introductionmentioning

confidence: 99%

A UAV Autonomous Landing System Integrating Locating, Tracking, and Landing in the Wild Environment

Si,

Li,

Wang

et al. 2024

J Intell Robot Syst

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High-reliability landing systems for unmanned aerial vehicles (UAVs) have gained extensive attention for their applicability in complex wild environments. Accurate locating, flexible tracking, and reliable recovery are the main challenges in drone landing. In this paper, a novel UAV autonomous landing system and its control framework are proposed and implemented. It's comprised of an environmental perception system, an unmanned ground vehicle (UGV), and a Stewart platform to locate, track, and recover the drone autonomously. Firstly, a recognition algorithm based on multi-sensor fusion is developed to locate the target in real time with the help of a one-dimensional turntable. Secondly, a dual-stage tracking strategy composed of a UGV and a landing platform is proposed for dynamically tracking the landing drone. In a wide range, the UGV is in charge of fast-tracking through the artificial potential field (APF) path planning and the model predictive control (MPC) tracking algorithms. While the trapezoidal speed planning is employed in platform controller to compensate for the tracking error of the UGV, realizing the precise tracking to the drone in a small range. Furthermore, a recovery algorithm including an attitude compensation controller and an impedance controller is designed for the Stewart platform, ensuring horizontal and compliant landing of the drone. Finally, extensive simulations and experiments are dedicated to verifying the feasibility and reliability of the developed system and framework, indicating that it is a superior case of UAV autonomous landing in wild environments such as grasslands, slopes, and snow.

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Section: Introductionmentioning

confidence: 99%

A UAV Autonomous Landing System Integrating Locating, Tracking, and Landing in the Wild Environment

Si,

Li,

Wang

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…Parachute recovery has been widely adopted due to its simple overall layout, low level of technical difficulty, and low dependence on other systems. In the parachute recovery of UAVs, the deployment model can be divided into deployment by a crown chute or a moving mechanism [13]. The crown chute will take a long time to open the parachute, which is not conducive to emergency release.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Simulation and Parameter Analysis of Weaved Composite Material for Unmanned Aerial Vehicle Parachute Recovery in Deployment Phase

Shi

Yue

et al. 2022

Crystals

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Aiming at the parachute recovery of fixed-wing unmanned aerial vehicles, a method of parachute deployment by tractor rocket is proposed. First, the tensile tests were carried out on high-strength polyethylene and brocade silk-weaved composite materials. The dynamic property parameters of the materials were obtained, which was the input for the dynamic model of the parachute deployment phase. Second, the model was verified by the experiment results. Finally, parachute weight and rocket launch temperature during the deployment phase were studied. The results showed that the dynamic model has good accuracy; as the parachute weight increases, the maximum snatch force of the extraction line and the sling decreases as the force on the suspension lines increases and the deployment effect worsens. With the temperature rise, the maximum snatch force on the extraction line, sling, and suspension lines increases and the deployment length changes slightly.

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Three-Dimensional Composite Approach Angle Constrained Guidance Law with Actuator Lag Consideration

Wang,

Zeng,

et al. 2024

J. Aerosp. Eng.

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Modeling of Small UAV Parachute Recovery System Based on Lagrangian Method

Cited by 4 publications

References 10 publications

A UAV Autonomous Landing System Integrating Locating, Tracking, and Landing in the Wild Environment

A UAV Autonomous Landing System Integrating Locating, Tracking, and Landing in the Wild Environment

Dynamic Simulation and Parameter Analysis of Weaved Composite Material for Unmanned Aerial Vehicle Parachute Recovery in Deployment Phase

Three-Dimensional Composite Approach Angle Constrained Guidance Law with Actuator Lag Consideration

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