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Abstract

This article describes the detailed derivation of a non-linear dynamic model of a powered paraglider (PPG) and a linear dynamics analysis using a linear model obtained from the non-linear model. In the modelling, the PPG, which consists of a payload and a propulsion unit connected to a canopy at two joints, is assumed to have eight degrees of freedom. This assumption allows all the internal forces or tensions on the suspension lines between the canopy and the payload to be eliminated analytically from the equations of motion. As a result, the dynamic model is explicitly obtained in the form of a state-vector equation. Non-linear simulation demonstrates the validity of the proposed model through a comparison with the flight experiment data for a manned paraglider. Furthermore, mode analysis using the linear model clarifies the dynamic characteristics, and state transformation between the canopy states and the payload states facilitates the flight control design.

Keywords

paraglider non-linear dynamics linear dynamics internal forces state transformation flight control

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Modelling and simulation of the dynamics of a powered paraglider

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