高速近距无人机协同编队控制器设计研究
|
摘要
针对高速飞行的无人机协同编队,机群中单机出现故障,需退出编队飞行,同时需快速近距或超近距重新编队问题。提出了一种快速近距协同编队控制器设计方法,弥补了突发"战事"鲁棒性低,时效性差的不足并对无人机编队飞行动态特性进行了分析。考虑到外界因素已知情形下,建立适合无人机纵向动力学模型和非定常气动力模型,根据编队速度、平尾偏角、推力矢量舵偏角及俯仰角速度作为控制器输入指令信号,研究编队飞行的动态特性。同时分析编队飞行间距误差收敛于很小固定值,协同飞行稳定性良好。仿真结果表明:该控制器能够有效提高近距或超近距重新编队的速度,而且能够保持协同编队飞行的稳定性,为高速近距无人机协同编队控制器设计提供一种思路。
Aiming at the high-speed flight of the UAVs cooperative formation,when a single UAV has occurred,need to exit the formation flight and be close or super close to form of the formation quickly. A fast close cooperative formation controller design method is proposed to make up for low the fighting robustness,and be shortcomings of timeliness poorly and analyze the dynamic characteristic of UAV formation flight. Taking the external factors known into consideration,setting up for the longitude maneuver of nonlinear thrust vector and unsteady aerodynamic model,according to the formation velocity,flat tail rudder angle and thrust vector and pitch angle velocity for corresponding input commend signals for the controller to research the dynamic characteristic of UAV formation flight.Meanwhile,the formation flight distance error is the convergence to a fixed value,and the stability of the cooperative formation flight is good. The simulation of results show that the controller can effectively improve the speed of the close or super close to formation,and maintain the stability of the formation flight,which provides a method of the close or super close formation flight controller design.
Aiming at the high-speed flight of the UAVs cooperative formation,when a single UAV has occurred,need to exit the formation flight and be close or super close to form of the formation quickly. A fast close cooperative formation controller design method is proposed to make up for low the fighting robustness,and be shortcomings of timeliness poorly and analyze the dynamic characteristic of UAV formation flight. Taking the external factors known into consideration,setting up for the longitude maneuver of nonlinear thrust vector and unsteady aerodynamic model,according to the formation velocity,flat tail rudder angle and thrust vector and pitch angle velocity for corresponding input commend signals for the controller to research the dynamic characteristic of UAV formation flight.Meanwhile,the formation flight distance error is the convergence to a fixed value,and the stability of the cooperative formation flight is good. The simulation of results show that the controller can effectively improve the speed of the close or super close to formation,and maintain the stability of the formation flight,which provides a method of the close or super close formation flight controller design.
引文
[1]樊琼剑,杨忠,方挺,等.多无人机协同编队飞行控制的研究现状[J].航空学报,2009,4(4):0683-0691Fan Qiongjian,Yang Zhong,Fang Ting,et al.Research Status of Coordinated Formation Flight Control for Multi-UAVs[J].Acta Aeronautica et Astronautica Sinica,2009,4(4):0683-0691(in Chinese)
[2]汪朝群.红外诱饵对红外制导导弹的干扰特性及仿真[J].红外与激光工程,2001,30(4):163-167Wang Chaoqun.Some Characteristics of Infrared Jam and Its Simulation Technique on Infrared Guided Missile[J].Infrared and Laser Engineering,2001,30(4):163-167(in Chinese)
[3]樊琼剑,杨忠,冯茂岩.一种基于双环控制的多无人机紧密编队飞行[C]∥2008年航空宇航科学与技术全国博士生学术论坛,2008Fan Qiongjian,Yang Zhong,Feng Maoyan,et al.A Multi-UAV Dased on Dual-Loop Control[C]∥Nation Ph D Academic Forum,2008(in Chinese)
[4]Corey J S,Rajeeva K.Adaptive Control of UAVs in Close-Coupled Formation Flight[C]∥Proceedings of the American Control Conference,2000:849-853
[5]Hummel D.The Use of Aircraft Wakes to Achieve Power Reduction in Formation Flight[C]∥Proceedings of the Fluid Dynamics Panel Symposium,1996:1777-1794
[6]Chichka D F,Speyer J,Park C G.Peak-Seeking Control with Plication to Formation Flight[C]∥Proceedings of the 38th IEEE Conference on Decision and Control,1999:2463-2470
[7]Lee G,Chong N Y.Decentralized Formation Control for Small-Scale Robot Teams with Anonymity[J].Mechatronics,2009,19(1):85-105
[8]Hu A H,Cao J D,Hu M F,et al.Consensus of a Leader-Following Multi-Agent System with Negative Weights and Noises[J].IET Control Theory&Applications,2014,8(2):114-119
[9]Ablikim M,Achasov M N,Albayrak O,et al.Observation of a Charged Charmoniumlike Structure in e+e-→(D*D*)±πat槡s=4.26 Ge V[J].Physical Review Letters,2014,112(13):132001
[10]Xie Y Y,Wang Y,Ma Z J.Delay Consensus of Leader-Following Multi-Agent Systems[J].Acta Physicalsinica,2014,63(4):40202-040202
[11]Ji L H,Liao X F.Consensus Analysis of Multi-Agent System with Multiple Time Delays[J].Acta Physical Sinica,2012,61(15):415-418
[12]Nan Jing.Solution of a Class of Rotational Relativistic Rotation Dynamic Equation Using the Generalized Variational Iteration Theory[J].Acta Physica Sinica,2013,62(4):221-229
[13]An B R,Liu G P.Using Time Delay Compensation Scheme in Dynamic Output Feedback Controller for Networked Control Systems[J].Acta Physica Sinica,2014,63(9):972
[14]Olfati-Saber R.Flocking for Multi-Agent Dynamic Systems:Algorithms and Theory[J].IEEE Trans on Automatic Control,2006,51(3):401-420
[15]Su Z,Bai Z S,Xu J,et al.Synthesis,Structure and Property of Cobalt(Ⅱ)Complexes with 3,5-di Benzoic Acid[J].Cryst Eng Comm,2009,11(5):873-880
[16]Oh K K,Ahn H S.Formation Control of Mobile Agents Based on Inter-Agent Distance Dynamics[J].Automatica,2011,47(10):2306-2312
[17]Afkhami A,Soltani-Felehgari F,Madrakian T,et al.Fabrication and Application of a New Modified Electrochemical Sensor Using Nano-Silica and a Newly Synthesized Schiff Base for Simultaneous Determination of Cd2+,Cu2+and Hg2+Ions in Water and Some Foodstuff Samples[J].Analytica Chimica Acta,2013,771:21-30
[18]Ablikim M,Achasov M N,Ai X C,et al.Observation of a Charged Charmoniumlike Structure in e+e-→(D*D*)±πat s=4.26Ge V[J].Physical Review Letters,2014,112(13):132001
[19]祁圣君,张喆.无人机近距编队飞行建模与仿真[J].航空工程进展,2012,3(3):0366-0367Qi Shengjun,Zhang Zhe.Modeling and Simulation of UAV Close Formation Flight Control[J].Advances in Aeronautical Science and Engineering,2012,3(3):0366-0367(in Chinese)
[20]Gu Y,Seanor B,Campa G,et al.Design and Flight Testing Evaluation of Formation Control Laws[J].IEEE Trans on Control Systems Technology,2006,14(6):1105-1112
[21]Roskam J.Airplane Flight Dynamics and Automatic Flight Controls[J].Design Analysis&Research Corporation,1995,32(3):0792-0799
[22]Stevens B L,Lewis F L,Johnson E N.Aircraft Control and Simulation:Dynamics,Controls Design,and Autonomous Systems[M].England,Johnson Wiley,2015
[23]Rauw M O.FDC 1.2-A Simulink Toolbox for Flight Dynamics and Control Analysis[J].Gemeente Zeist,2001,1(99):7
[24]Goman M,Khrabrov A.State-Space Representation of Aerodynamic Characteristics of an Aircraft at High Angles of Attack[J].Journal of Aircraft,1994,31(5):1109-1115
[2]汪朝群.红外诱饵对红外制导导弹的干扰特性及仿真[J].红外与激光工程,2001,30(4):163-167Wang Chaoqun.Some Characteristics of Infrared Jam and Its Simulation Technique on Infrared Guided Missile[J].Infrared and Laser Engineering,2001,30(4):163-167(in Chinese)
[3]樊琼剑,杨忠,冯茂岩.一种基于双环控制的多无人机紧密编队飞行[C]∥2008年航空宇航科学与技术全国博士生学术论坛,2008Fan Qiongjian,Yang Zhong,Feng Maoyan,et al.A Multi-UAV Dased on Dual-Loop Control[C]∥Nation Ph D Academic Forum,2008(in Chinese)
[4]Corey J S,Rajeeva K.Adaptive Control of UAVs in Close-Coupled Formation Flight[C]∥Proceedings of the American Control Conference,2000:849-853
[5]Hummel D.The Use of Aircraft Wakes to Achieve Power Reduction in Formation Flight[C]∥Proceedings of the Fluid Dynamics Panel Symposium,1996:1777-1794
[6]Chichka D F,Speyer J,Park C G.Peak-Seeking Control with Plication to Formation Flight[C]∥Proceedings of the 38th IEEE Conference on Decision and Control,1999:2463-2470
[7]Lee G,Chong N Y.Decentralized Formation Control for Small-Scale Robot Teams with Anonymity[J].Mechatronics,2009,19(1):85-105
[8]Hu A H,Cao J D,Hu M F,et al.Consensus of a Leader-Following Multi-Agent System with Negative Weights and Noises[J].IET Control Theory&Applications,2014,8(2):114-119
[9]Ablikim M,Achasov M N,Albayrak O,et al.Observation of a Charged Charmoniumlike Structure in e+e-→(D*D*)±πat槡s=4.26 Ge V[J].Physical Review Letters,2014,112(13):132001
[10]Xie Y Y,Wang Y,Ma Z J.Delay Consensus of Leader-Following Multi-Agent Systems[J].Acta Physicalsinica,2014,63(4):40202-040202
[11]Ji L H,Liao X F.Consensus Analysis of Multi-Agent System with Multiple Time Delays[J].Acta Physical Sinica,2012,61(15):415-418
[12]Nan Jing.Solution of a Class of Rotational Relativistic Rotation Dynamic Equation Using the Generalized Variational Iteration Theory[J].Acta Physica Sinica,2013,62(4):221-229
[13]An B R,Liu G P.Using Time Delay Compensation Scheme in Dynamic Output Feedback Controller for Networked Control Systems[J].Acta Physica Sinica,2014,63(9):972
[14]Olfati-Saber R.Flocking for Multi-Agent Dynamic Systems:Algorithms and Theory[J].IEEE Trans on Automatic Control,2006,51(3):401-420
[15]Su Z,Bai Z S,Xu J,et al.Synthesis,Structure and Property of Cobalt(Ⅱ)Complexes with 3,5-di Benzoic Acid[J].Cryst Eng Comm,2009,11(5):873-880
[16]Oh K K,Ahn H S.Formation Control of Mobile Agents Based on Inter-Agent Distance Dynamics[J].Automatica,2011,47(10):2306-2312
[17]Afkhami A,Soltani-Felehgari F,Madrakian T,et al.Fabrication and Application of a New Modified Electrochemical Sensor Using Nano-Silica and a Newly Synthesized Schiff Base for Simultaneous Determination of Cd2+,Cu2+and Hg2+Ions in Water and Some Foodstuff Samples[J].Analytica Chimica Acta,2013,771:21-30
[18]Ablikim M,Achasov M N,Ai X C,et al.Observation of a Charged Charmoniumlike Structure in e+e-→(D*D*)±πat s=4.26Ge V[J].Physical Review Letters,2014,112(13):132001
[19]祁圣君,张喆.无人机近距编队飞行建模与仿真[J].航空工程进展,2012,3(3):0366-0367Qi Shengjun,Zhang Zhe.Modeling and Simulation of UAV Close Formation Flight Control[J].Advances in Aeronautical Science and Engineering,2012,3(3):0366-0367(in Chinese)
[20]Gu Y,Seanor B,Campa G,et al.Design and Flight Testing Evaluation of Formation Control Laws[J].IEEE Trans on Control Systems Technology,2006,14(6):1105-1112
[21]Roskam J.Airplane Flight Dynamics and Automatic Flight Controls[J].Design Analysis&Research Corporation,1995,32(3):0792-0799
[22]Stevens B L,Lewis F L,Johnson E N.Aircraft Control and Simulation:Dynamics,Controls Design,and Autonomous Systems[M].England,Johnson Wiley,2015
[23]Rauw M O.FDC 1.2-A Simulink Toolbox for Flight Dynamics and Control Analysis[J].Gemeente Zeist,2001,1(99):7
[24]Goman M,Khrabrov A.State-Space Representation of Aerodynamic Characteristics of an Aircraft at High Angles of Attack[J].Journal of Aircraft,1994,31(5):1109-1115