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针对翼伞系统的基本飞行特性和良好的可操纵性,采用分段设计的思想对翼伞系统的归航轨迹进行规划。根据各分段轨迹之间的几何关系,将航迹规划问题转变为对设计参数的寻优问题。实际系统所能提供的能量是有限的。因此,在目标函数中加入控制能量的约束。运用改进的粒子群算法对目标函数进行求解计算,得到整个归航轨迹的设计参数。仿真结果表明:分段归航简单、实用,满足归航过程对落点精度和能量的要求。
Aiming at the basic flight characteristics and good maneuverability of the wing umbrella system, the idea of section design is used to plan the homeway trajectory of the wing umbrella system. According to the geometric relationship between the trajectories of each segment, the trajectory planning problem is transformed into the optimization problem of the design parameters. The actual system can provide the energy is limited. Therefore, we add the constraint of controlling energy in the objective function. The improved particle swarm optimization algorithm is used to solve the objective function to get the design parameters of the whole orbit. The simulation results show that the sub-navigation is simple and practical, and meets the requirements of landing accuracy and energy during the homing process.