Embedded Files
A 1:4 scaled testbed was designed, fabricated, and tested to demonstrate the most effective method to simulate pilot inputs onto a paraglider. The system was attached to a scaled wing simulator with correct geometric dimensioning to replicate a harness hung under an actual paraglider. The remotely operated system utilized a control computer to move a mass attached to a linear rail to reach specific angle setpoints, as well pull on brake lines attached to the rear of the system to successfully simulate
weight shifting and brake line actuation. The system was able to reach target setpoints at an accuracy of ±1°.
The paraglider testbed provided a good proof of concept for weight shift maneuvers and brake line actuation. It can be further developed for flight testing using a scaled wing. The system showed that with the right hardware and control algorithm, human paraglider pilots can be simulated via a scaled autonomous test platform. Thus, further developments to the scaled testbed can be conducted to ultimately substitute the need for a paraglider certification test pilot.
It is recommended that further iterations of the test platform further optimize the physical system with regards to weight ratios and dimensions in order to achieve higher roll angles. It is also best to switch to a more reliable control system hardware, especially in preparation for actual flight. Longer range wireless communication would need to be implemented to control such a system. A crash-resistant, as well as aerodynamic frame that can house all the components while providing accessibility and retaining modularity would be ideal.
Tesing and Performance:
Position control of the Paraglider Testbed as it goes to various setpoints. Noise is from oscillations caused by the hanging rig swaying due to movement and the breeze through an open door immediately adjacent to the test area, not controller instability as it may appear.
Flowchart describing how the control software works. Read_input(), motor_output(), and collect_data() are the three most important threads that take in orders from the user and relay them to the motors in order to perform operations. Further detail is given in the Readme file on the code repository: https://github.com/alevesque/scaled_paraglider_testbed.
Wiring Diagram of Paraglider Testbed electronics created using KiCAD circuit CAD software. KiCAD source files are in Docs folder.
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