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A Descent Rate Control Approach to Developing an Autonomous Descent Vehicle.

机译：开发自主下降车辆的下降率控制方法。

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摘要

Circular parachutes have been used for aerial payload/personnel deliveries for over 100 years. In the past two decades, significant work has been done to improve the landing accuracies of cargo deliveries for humanitarian and military applications. This dissertation discusses the approach developed in which a circular parachute is used in conjunction with an electro-mechanical reefing system to manipulate the landing location. Rather than attempt to steer the autonomous descent vehicle directly, control of the landing location is accomplished by modifying the amount of time spent in a particular wind layer. Descent rate control is performed by reversibly reefing the parachute canopy.;The first stage of the research investigated the use of a single actuation during descent (with periodic updates), in conjunction with a curvilinear target. Simulation results using real-world wind data are presented, illustrating the utility of the methodology developed. Additionally, hardware development and flight-testing of the single actuation autonomous descent vehicle are presented.;The next phase of the research focuses on expanding the single actuation descent rate control methodology to incorporate a multi-actuation path-planning system. By modifying the parachute size throughout the descent, the controllability of the system greatly increases. The trajectory planning methodology developed provides a robust approach to accurately manipulate the landing location of the vehicle. The primary benefits of this system are the inherent robustness to release location errors and the ability to overcome vehicle uncertainties (mass, parachute size, etc.).;A separate application of the path-planning methodology is also presented. An in-flight path-prediction system was developed for use in high-altitude ballooning by utilizing the path-planning methodology developed for descent vehicles. The developed onboard system improves landing location predictions in-flight using collected flight information during the ascent and descent. Simulation and real-world flight tests (using the developed low-cost hardware) demonstrate the significance of the improvements achievable when flying the developed system.
机译：圆形降落伞已用于空中有效载荷/人员运送超过100年。在过去的二十年中，为改善用于人道主义和军事用途的货物交付的着陆精度，已经进行了重大工作。本文讨论了一种开发方法，其中将圆形降落伞与机电礁系统结合使用以操纵着陆位置。与其试图直接操纵自主下降的车辆，不如通过改变特定风层所花费的时间来实现对着陆位置的控制。下降速率的控制是通过可逆地降落伞降落伞进行的。研究的第一阶段研究了在下降过程中使用单次致动（定期更新）以及曲线目标的情况。给出了使用实际风数据的模拟结果，说明了所开发方法的实用性。此外，还介绍了单驱动自主下降车辆的硬件开发和飞行测试。研究的下一阶段着眼于扩展单驱动下降率控制方法，以纳入多驱动路径规划系统。通过在整个下降过程中修改降落伞的大小，系统的可控性大大提高。所开发的轨迹规划方法论提供了一种稳健的方法，可以准确地操纵车辆的着陆位置。该系统的主要优点是释放位置错误的固有鲁棒性以及克服车辆不确定性（质量，降落伞尺寸等）的能力。还提出了路径规划方法的单独应用。利用为下降飞机开发的路径规划方法，开发了一种用于高空气球飞行的飞行中路径预测系统。开发的机载系统使用在上升和下降期间收集的飞行信息来改善飞行中的着陆位置预测。仿真和实际飞行测试（使用开发的低成本硬件）证明了在飞行开发的系统时可以实现的改进的意义。

著录项

  • 作者

    Fields, Travis D.;

  • 作者单位

    University of Nevada, Reno.;

  • 授予单位 University of Nevada, Reno.;
  • 学科 Engineering Aerospace.;Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2013
  • 页码 167 p.
  • 总页数 167
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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