Abstract
Powered Parafoil UAV (PPUAV) is a kind of different aircraft from common UAVs. It consists of parafoil canopy, payload and suspension lines and has the adventages of simple structure, low cost and high load weigh ratio, which is suitable for large-area and long-time surveillance and airdrop missions. This type of UAV has the problems of adding mass and flexible connection, and it is not easy to build the accurate model, which brings challenges to theoretical study and practical applications. This paper designs the structure of PPUAV and real-time data acquisition system, obtains flight data for modeling, identifies and validates the transfer functions using Matlab System Identification Toolbox. Finally the model of PPUAV is obtained, which gives a practicable method of PPUAV modeling and does a preliminary work for the following controller design and mission planning.
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Abbreviations
- la :
-
left brake deflection
- ra :
-
right brake deflection
- T :
-
thrust
- S :
-
symmetric brake deflection
- v x :
-
longitudinal velocity
- v z :
-
vertical velocity
- w :
-
yaw rate
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Bingbing, L., Juntong, Q., Tianyu, L., Sen, M., Dalei, S., Jianda, H. (2015). Real-Time Data Acquisition and Model Identification for Powered Parafoil UAV. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_51
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DOI: https://doi.org/10.1007/978-3-319-22879-2_51
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