重装空投系统的动力学建模与控制律设计

针对当前重装空投数学模型与实际系统存在偏差等问题，改进传统的分离体建模方法。将货物视作刚体考虑分析，修正了货物约束力的作用点,引入了牵引伞力作用方向，综合考虑了货舱地板角、摩擦系数等影响因素，提出更加精确的干扰力矩计算方法，建立更加贴近实际的重装空投动力学模型。设计了俯仰高度保持和速度保持控制律，并利用遗传算法选取了合适的控制律参数。仿真结果表明，所给出的控制方案能够有效地保持飞行轨迹和稳定飞机姿态。

Dynamic model and control law design of heavy-equipment airdrop

In view of the difference between present heavy-equipment airdrop mathematical model and the real system, the separation body method was improved. Considering cargo as rigid body, the point by constraint reaction of cargo was modified and the parachute force direction was presented, so a more accurate method of calculating disturbance torque was proposed which covered many influential factors including angle of cabin floor and friction coefficient. Then a more realistic dynamic model of heavy-equipment airdrop was established. The control laws of pitch altitude hold mode and velocity hold mode were designed and their parameters were selected by genetic algorithm. The simulation results indicate that the proposed control scheme can effectively hold flight path and aircraft attitude.