KR101912641B1 - Flight Control Method for Precision Induction Parachute System with Automatic Mission Planning Algorithm - Google Patents

Abstract

The present disclosure is an algorithm that automatically generates a path for accurately landing a precision guided parafoil system at a target point. If the mission plan is wrong, the parachute may lose altitude before reaching the target point, falling to the ground, or passing altitude from the arrival point. The automatic mission planning algorithm calculates whether or not it can reach the target point considering the glide performance of the parachute, the altitude drop at the turn, altitude wind direction, and wind speed. Then, the altitude margin at the arrival point is calculated, and the number of turns and the turning radius of the energy consumption section are automatically adjusted. The present invention also relates to a flight control method for a precision guided parachute system to which an automatic mission planning algorithm having an advantage of generating a route mission for safely landing in a headwind considering the wind direction of a landing point is applied.
A flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied includes a step of inputting a target position, a step of inputting a wind direction and a wind speed of each altitude, Calculating a wind direction of the wind, a wind speed and a glide ratio of the parachute to generate a basic route from the delivery position to the target position to be dropped, calculating an altitude margin of the parachute, An altitude margin calculation step of calculating the number of turns in the consumed section, and an altitude margin recalculation step of calculating the turning radius according to the number of revolutions of the parachute so that the parachute is discharged at an optimal altitude margin value.

Description

TECHNICAL FIELD [0001] The present invention relates to a flight control method for a precision-guided parachute system using an automatic mission planning algorithm,

The present invention relates to a flight control method for a precision-guided parachute system, and more particularly, to a flight control method for an automatic flight control system using an automatic mission planning algorithm, To a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm capable of accurately landing a parachute at a target point is applied.

Unless otherwise indicated herein, the contents set forth in this section are not prior art to the claims of this application and are not to be construed as prior art to be included in this section.

Among the methods of delivering the cargo to the destination, the land supply method can not be used when the transportation route can not be secured due to the earthquake or war. In such a case, the air is transferred from the air to the destination to the circular parachute, Public procurement methods are being used.

Although the air supply method is not limited to geographical restrictions, it has a disadvantage in that it is difficult to accurately transmit the cargo to the destination due to disturbance such as altitude, aircraft speed and wind.

Accordingly, a method using a parachute-shaped guide parachute capable of flight control, rather than a conventional circular parachute, has recently been used.

U.S. Patent Application Publication No. 6343244 and U.S. Patent Application Publication No. 2004-0084567 disclose such an inductive parachute transport system, which includes a means for measuring wind speed / direction of wind, a landing route determining means, and a flight control means And measures a wind direction / wind speed after the parachute is deployed, sets a landing flight path so as to proceed to a forward path and descend forward, guides the user to fly close to the landing flight path, .

In addition, the invention disclosed in U.S. Patent Application Publication No. 2004-0084567 discloses a small-sized and inexpensive transportation system for transporting small cargoes including a parachute portion, a parachute cover emission detection sensor, a GPS sensor, a horizontal bearing sensor, And the like.

The system is guided by a motor to rotate in a horizontal direction orthogonal to the traveling direction when departing from the destination, and is designed to fly on a straight course from a destination to a predetermined radius, and to draw a circular shape from the top of the destination.

However, the above-mentioned documents do not disclose a problem in which if the missions plan is missed, the parachute will lose altitude before reaching the target point and fall off to the ground or altitude may be left at the arrival point.

In addition, by applying the mission planning algorithm for solving the above-mentioned problem, it is possible to apply the mission planning algorithm to an algorithm that accurately calculates the target point accurately, taking into account the overall problem of the glide performance of the parachute, the altitude drop at the turn, There is no disclosure for.

There is no disclosure to calculate the altitude margin at the arrival point to automatically adjust the number of revolutions and the turning radius of the energy consuming zone and to generate the path mission so that it can safely land on the windwind in consideration of the wind direction of the landing spot .

1. Korean Patent Registration No. 10-0673523 (2007.01.17)

2. Korean Patent Registration No. 10-1235910 (2013.02.15)

Flight control for precision-guided parachute systems with automatic mission-planning algorithms that solve the problem that if the mission plan is misplaced, the altitude will be lost before the parachute arrives at the destination and the altitude will fall from the landing point. Method.

The mission planning algorithm for the solution of the above problem is applied, and an automatic mission plan which calculates the precise guidance to the target point in consideration of the overall problem in the glide performance of the parachute, the altitude drop at the turn, altitude wind direction, And to provide a flight control method for a precision guided parachute system to which an algorithm is applied.

An automatic mission planning algorithm that calculates the altitude margin at the arrival point and automatically adjusts the turning frequency and turning radius of the energy consuming section and generates the route mission so that it can land safely in the windwind considering the wind direction of the landing point And to provide a flight control method for a precision-guided parachute system applied.

We propose a flight control method for a precision-guided parachute system with an automatic mission planning algorithm that can automatically calculate the mission path and improve the accuracy of the precision aerial spreading system by using the mission planning algorithm to accurately land the parachute at the target point .

A flight control method for a precision guided parachute system to which an automatic mission planning algorithm according to an embodiment is applied includes a step of inputting a target position, a step of inputting a wind direction and a wind speed of each altitude, a step of calculating a drop position, Calculating a glide ratio of a wind, a wind speed and a glide ratio of the parachute, and generating a basic route from the delivery position to the target position, calculating an altitude margin of the parachute, calculating an energy consumption interval And an altitude margin recalculation step of calculating the turning radius according to the number of revolutions of the parachute to allow the parachute to be discharged at an optimal altitude margin value.

According to an embodiment, the step of calculating a delivery position comprises the step of manually or automatically selecting the determination of the drop delivery position.

According to an embodiment, the altitude margin calculation of the parachute includes a launch step of determining an initial energy, a homing step of determining that the parachute will fly a user defined path point set from the step of generating the base path, An energy management step for determining a sufficient altitude and correct collision for the parachute to be dropped at the target position in the section, and an apocalyptic induction step for the parachute to determine a turning start point in consideration of the wind.

An apparatus for automatically controlling a parachute operated by a flight control method for a precision-guided parachute system according to any one of claims 1 to 3, comprising: a canopy bag for storing a parachute connected to a parachute; A flight control computer which is installed inside the automatic guidance device and receives a signal of the sensor and the air sensor to control the flight of the parachute; A front panel controller installed in the automatic guidance device in cooperation with the flight control computer, the front panel controller controlling a motor unit driven for deployment of the parachute; And a control unit for controlling the flight of the parachute.

According to an embodiment of the present invention, the motor unit includes a motor, a motor brake interlocked with the motor to control a rotating direction, a speed reducer connected to the adjusting string via a pulley, A control board interlocked with the motor through an encoder to control the motor, and a battery for supplying power to the control board.

In the flight control method for a precision-guided parachute system using the automatic mission planning algorithm as described above, if the mission plan is wrong, the parachute loses all altitude before reaching the target point and falls to the ground or the altitude remains at the arrival point There is an advantage that the problem of discarding can be solved.

The mission planning algorithm for solving the above problem is applied, and it has an advantage of calculating more precisely to the target point in consideration of the overall problem of the glide performance of the parachute, the altitude drop at the time of turning, the wind direction at the altitude, .

The altitude margin at the arrival point is calculated to automatically adjust the turning frequency and the turning radius of the energy consuming section and to generate the route mission so that the windmill can safely land on the windwave considering the wind direction of the landing point.

It has the advantage that it can automatically calculate the mission path and improve the accuracy of the precision air supply system by the mission planning algorithm for accurately landing the parachute at the target point.

It is essential for the operation of the precision guided parachute system, which can be used for military or special purpose. It can be used for air supply, airplane, mission planning, guidance control, The program has the advantage of meeting the demand of the military.

1 is a view for explaining a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied;
2 is a flow chart of an operation of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
3 is a view showing a mission path according to a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
4 is a view for explaining a step of calculating an altitude margin of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
5A to 5C are diagrams for explaining an altitude calculation of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
FIG. 6 is a diagram showing a mission planning program of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied; FIG.
FIG. 7 is a diagram showing a configuration of the mission planning program of FIG. 6; FIG.
FIG. 8 is a diagram for calculation of mission availability of the mission planning program of FIG. 6; FIG.
FIG. 9 through FIG. 14 illustrate a simulation of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
15 is a view showing a model used in the simulation of Figs. 9 to 14. Fig.
FIG. 16 is a diagram specifically showing a configuration of the model of FIG. 15;
17 to 21 are simulation results of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
22 is a view showing a flight control computer of an automatic pilot apparatus of a parachute operated by a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied;
23 is a diagram of product components of a parachute operated by a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.
24 is a view showing a configuration of a motor unit of an automatic pilot apparatus of a parachute operated as a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied;
Fig. 25 is a diagram showing a system configuration including a hardware configuration of the automatic pilot apparatus of the parachute in Fig. 24. Fig.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like numbers refer to like elements throughout.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

First, in the flight control method for a precision-guided parachute system using the automatic mission planning algorithm of the present disclosure, a parachute, a parafoil, an altitude, a wind direction, a wind speed, a glide, a turning, an algorithm, an induction, a canopy bag, , A motor drive, a speed reducer, an encoder, and the like, will not be described in detail.

FIG. 1 is a diagram for explaining a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied. FIG. And FIG.

Referring to FIGS. 1 and 2, a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied includes a step S10 of inputting a target position of a final landing point of a parachute, A step S20 of inputting the wind direction and wind speed of the altitude according to the flight of the parachute, calculating a dropping position capable of arriving at the target point in consideration of the gliding performance of the parachute, the altitude drop at the time of turning, (S40) of calculating the altitude margin of the parachute by calculating a wind direction, a wind speed and a glide ratio of the parachute to generate a basic route from the delivery position to the target position, The number of turns in the energy consuming period according to the position of the parachute is calculated, that is, when the number of turns is increased or decreased so as to fly along the route optimized for the basic route of the parachute The key includes an altitude margin recalculation step (S60) for calculating the altitude margin calculation step (S50) and the calculation of the turning radius according to the number of revolutions of the parachute so as to drop the parachute to an optimized altitude margin value .

Referring to FIG. 2, a flight control method for a precision-guided rescue system according to the present invention includes an input unit selection step S10 for performing a target position input, And a step S30 'of manually or automatically inputting the determination of the drop delivery position in the delivery position calculation step S30 after performing the wind direction and wind speed input step S20 . If the manual input is selected in the manual or automatic selection step S30 'of the drop position of the present disclosure as described above, the user inputs the drop position manually and calculates the mission availability, and if successful, stores and uploads the mission , And if a failure occurs, input the drop position again. Also, when automatic input is selected, the delivery position is automatically determined, and the altitude, speed, etc. are input. In addition, job storage and upload are done together.

FIG. 3 is a view showing a mission path according to a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied. FIG. FIG. 4 is a diagram for explaining the elevation margin calculation step of the flight control method for the induction parachute system.

Referring to Figures 3-4, it is determined whether there is sufficient altitude to perform the present SMS mission according to the above, wherein the altitude margin calculation (SM) of the parachute determines the initial energy according to the unloading altitude (SM2) for determining that the parachute will fly at a user defined route point set from the step of generating the base route, and a step (SM2) for, when the parachute is dropped at the target position An energy management step SM3 consisting of an EM1 stage and an EM2 stage for securing a sufficient altitude and precise impact for securing sufficient altitude for the wind, Step SM4. At this time, in the EM1 stage of the energy management stage (SM3), a sufficient altitude is secured to perform the mission, and in the EM2 stage, the altitude is secured for the second turn in this disclosure while losing altitude for accurate launch. The altitude margin calculation (SM) of the parachute according to the above is represented by the case as shown in Fig.

FIGS. 5A to 5C are diagrams for explaining altitude calculation of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied. FIG. FIG. 7 is a diagram showing the configuration of the mission planning program of FIG. 6, and FIG. 8 is a flowchart of a mission control program for calculating the mission availability of the mission planning program of FIG. 6 FIG.

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이다. The elevation profile calculation for realizing the present disclosure as described above is as shown in Fig. 5, where the altitude profile calculation is performed by calculating altitude consumed during flight along the ground trajectory, calculating the required minimum altitude and altitude margin do. 5A and 5B are examples of altitude calculation according to a straight flight and a turn flight, respectively. In the case of straight flight, it is assumed that the aircraft is flying at the optimum sliding angle. On the other hand, FIG. 5C shows the altitude margin calculation, wherein the number of turns in the EM1 stage is determined according to the difference between the calculated optimum (minimum) altitude and the actual delivery altitude and the altitude margin. Here, the symbols used in the formulas of Figs. 5A to 5C are,

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Referring to FIG. 6, the program of the present disclosure is designed based on the above description, and the MATLAB code is constituted when constructing input and output variables. Referring to FIG. 7, the configuration variables include a maximum complex ratio, a turning radius at each step, a reference length at each step, and a turning direction and a turning number at the EM1 and EM2 stages. Referring to FIG. 8, the automatic mission planning algorithm is designed as shown in FIG. 8 through the calculation of the possibility of the mission planning stage.

FIG. 9 through FIG. 14 are diagrams illustrating a simulation of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.

Simulation of the program according to the above-described design is expressed as the respective drawings of Figs. 9 to 14 as follows.

Fig. 9 shows an example in which the EM1, EM2, and TG positions are automatically generated when the altitude is 1000 m and the target is located 1.5 km away from the target, and the EM2 turn radius is increased by 2.3 m.

10 is different from FIG. 9 in that the EM1, EM2, and TG positions are automatically generated, the EM1 turn count is automatically calculated, and the EM2 turn radius is automatically corrected.

Fig. 11 shows a case in which an altitude of 1000 m is dropped and a target radius of 6 m is landed, Fig. 12 shows a case in which the wind travels at 2 m / s, 280 degrees or in a windless state. FIG. 13 shows a case in which a wind direction and a wind direction are created by inputting the wind direction and size in the mission plan when the wind is present, and the wind direction is 2 m / s and 280 degrees. Fig. 14 shows a case where the wind is blown off at an altitude of 1300 m, wind 2 m / s, 280 degrees and a target radius of 11 m.

FIG. 15 is a view showing the model used in the simulation of FIGS. 9 to 14, FIG. 16 is a view showing the structure of the model of FIG. 15 in detail. (See manual), as well as a manual flight control (manual control device input) and a route flight as a spherical earth coordinate system in a simulation model configuration.

17 to 21 are diagrams showing simulation results of a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied.

17 shows the path flight result as x, y plane, FIG. 18 shows the path flight result as three-dimensional, FIG. 19 shows the path flight result as the manual input way Point point, Fig. 20 shows the path flight result as the landing point, and Fig. 21 shows the path flight result as the x, z plane.

22 is a view showing a flight control computer of an automatic pilot apparatus of a parachute operated by a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied. The flight control method for a precision-guided rescue system in which an automatic mission planning algorithm is applied can be controlled by using the flight control computer 20 having the specifications as shown in the figure.

FIG. 23 is a diagram showing the product components of a parachute operated by a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm according to an embodiment of the present disclosure is applied; and FIG. FIG. 25 is a view showing a configuration of a motor including a hardware configuration of an automatic control device for a parachute in FIG. 24; FIG. 25 is a view showing a configuration of a motor portion of an automatic control device for a parachute operated by a flight control method for a precision guided parachute system;

23 to 25, an apparatus for automatically controlling a parachute operated by a flight control method for a precision-guided parachute system to which an automatic mission planning algorithm of the present disclosure is applied is provided. The apparatus includes a canopy bag for storing a parachute connected to a parachute, An automatic induction device 10 having a built-in gas sensor and an air sensor therein, and an automatic induction device 10 installed inside the automatic induction device 10. The device 10 receives signals of the sensor and the air sensor, A front panel controller for controlling the motor unit 50 installed in the automatic guidance device 10 in cooperation with the flight control computer 20 and driven for deployment of the parachute, (4) for controlling the flight of the parachute through the flight control computer (20) by transmitting a preset signal to the flight control computer (20) 0). It goes without saying that various configurations capable of realizing the present disclosure other than the configurations of the above-described embodiments can be also applied.

The motor unit 50 according to the above description includes a motor 51, a motor drive 52 linked to the motor 51 to control the rotation direction of the motor 51, A decelerator 53 connected to the motor 51 for controlling the rotation speed of the motor 51 and a control board 54 connected to the motor 51 via an encoder 54a to control the motor 51, And a battery 55 for supplying power to the control board 54. However, the present invention is not limited thereto.

It is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. It is not limited to the embodiment.

S10: Target position input step S20: Wind direction and wind speed input step according to altitude
S30: Succeeding position calculation step S30 ': Manual and automatic selection step
S40: Basic path generation step S50: Elevation margin calculation step
S60: Altitude margin recalculation step
SM: Altitude margin calculation step SM1: Launch step
SM2: Homing phase SM3: Energy management phase
SM4: terminal induction step
10: Automatic Induction Chip 20: Flight Control Computer
30: front panel controller 40:
50: motor section 51: motor
52: motor driver 53: speed reducer
53a: pulley 54: control board
54a: Encoder 55: Battery

Claims (5)

An automatic induction device connected to the canopy bag for storing a parachute connected to the parachute, the automatic induction device being connected to the canopy bag by a control line and having a built-in sensor and an air sensor; A control unit for controlling the rotation direction of the parachute in association with the motor, the control unit being installed in the automatic control unit in cooperation with the flight control computer, A control board connected to the control rope through a pulley and connected to the motor to control a rotation speed of the motor, a control board connected to the motor through an encoder to control the motor, A front panel controller for controlling a motor unit including a battery to be provided, And a control unit for transmitting a preset signal to the control computer to control the flight of the parachute through the flight control computer. The flight control method for a precision-guided parachute system using an automatic mission planning algorithm using an automatic pilot apparatus for a parachute, As a result,
Inputting a target position of a final landing point of the parachute into an automatic adjustment device of the parachute;
Inputting the wind direction and wind speed of the altitude according to the flight of the parachute into the automatic adjustment device of the parachute;
Calculating whether the parachute drop position can be reached at a target point in consideration of a gliding performance of the parachute, an altitude drop at the time of swing, a wind direction and a wind speed at an altitude through the automatic adjustment device of the parachute, Calculating a drop position at which the task storage and upload are performed together;
Calculating a wind direction, a wind speed and a glide ratio of the parachute to generate a basic route from the delivery position to the target position;
A launch step of increasing or decreasing the number of turns so as to fly along a route optimized for the basic route of the parachute, the launch step of determining an initial energy according to a release altitude, An energy management step for determining a correct collision using an altitude loss and securing of a sufficient altitude for the parachute to be dropped at the target position in an energy consuming period; Calculating an altitude margin of the parachute using an end derivation step of determining a turning start point and calculating a turn number in an energy consumption period according to the position of the parachute; And
And an altitude margin recalculation step of calculating the altitude margin according to the number of revolutions of the parachute so as to increase or decrease a turning radius of the parachute so that the parachute is discharged at an optimal altitude margin value. Flight Control Method for Induction Parachute System. delete delete delete delete

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