翼伞精确空投系统归航轨迹规划与控制

翼伞归航轨迹规划与控制问题是翼伞系统在一定初始状态下，利用自身可操作性，完成从初始位置到目标位置的转移问题。针对翼伞空投系统不同归航要求，规划出满足精度要求为圆径概率误差（ CEP ）小于40m的归航轨迹并经过一定量的控制完成翼伞空投系统精确空投任务。首先建立翼伞系统状态空间六自由度模型，并在此基础上提出系统简化稳态模型，通过最优控制方法，规划出满足空投要求的最优归航轨迹后对翼伞进行不断控制直至目标点。最后通过Matlab仿真试验，绘出翼伞系统归航轨迹图与控制变化图。

Homing Trajectory P lanning and Control for Accurate Aerial Delivery System of P arafoil

The transfer problem of the parafoil system from the initial position to the target location is the problem that the parafoil system plans its homing trajectory and controls it through its own operability under a certain initial state. For the purpose of planning the trajectory which meets the standard of precision airdrop whose CEP is lessthan 40 meters perfectly and completing the accurate aerial delivery mission through some control, a sixdegreesoffreedom model is built firstly, then a simplified steadystate model based on that is put forward, and the optimal control method is used to plan the desired homing trajectory and control the parafoil fly towards to the target. At last, it draws the trajectories and the variations of the control through Matlab simulation.