基于四旋翼飞行器的机动编队控制器设计
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摘要
编队飞行是指两个或两个以上的飞行器在一定的组织模式下进行飞行,在自主编队中通常将其分为队形配置和任务分配。文章将研究聚焦在长机进行不规则机动的条件下,四旋翼飞行器编队的队形配置问题。所设计的编队控制器基于相对运动学并根据长机的实时位置和实时速度,计算出从机为与长机形成并保持编队队形应在的期望位置,再将从机的实时位置与期望位置进行比较,并经PI控制器形成从机的速度指令。在仿真过程中发现,在长机进行不规则机动的情况下编队队形会有一定的误差,为了消除这种误差,在编队控制器中加入从机期望位置的微分前馈的作用进行补偿。仿真结果表明,即使在长机进行较复杂机动运动的条件下,所设计的编队控制器依旧能够快速形成并保持期望的编队队形。
Formation flight refers to the flight of two or more aircraft in a certain organizational mode. In autonomous formation, it is usually divided into formation configuration and task allocation. This paper focuses on the formation configuration of Four-rotor aircraft formation under irregular maneuver of long aircraft. Based on the relative kinematics and the real-time position and speed of the slave, the expected position of the slave to form and maintain the formation is calculated. Then the real-time position of the slave is compared with the desired position, and the slave speed command is formed by PI controller. In order to eliminate the errors, the differential feedforward function of slave expected position is added to the formation controller to compensate the errors. The simulation results show that the designed formation controller can quickly form and maintain the desired formation even under the condition of complex motion of the long aircraft.
Formation flight refers to the flight of two or more aircraft in a certain organizational mode. In autonomous formation, it is usually divided into formation configuration and task allocation. This paper focuses on the formation configuration of Four-rotor aircraft formation under irregular maneuver of long aircraft. Based on the relative kinematics and the real-time position and speed of the slave, the expected position of the slave to form and maintain the formation is calculated. Then the real-time position of the slave is compared with the desired position, and the slave speed command is formed by PI controller. In order to eliminate the errors, the differential feedforward function of slave expected position is added to the formation controller to compensate the errors. The simulation results show that the designed formation controller can quickly form and maintain the desired formation even under the condition of complex motion of the long aircraft.
引文
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[4] 郭海洋.基于蜂群算法的无人机群协同飞行策略研究[D].哈尔滨:哈尔滨工程大学,2012.
[5] 陈世明,丁贤达,化俞新.大规模机器人群体的分层编队控制算法[J].华中科技大学学报:自然科学版,2014,42(10):52-57.
[2] 毛玉田,陈杰,方浩,等.连通性保持下的多机器人系统分布式群集控制[J].控制理论与应用,2014,31(10):1393-1403.
[3] 杨宇.多机器人编队群集运动控制的研究[D].武汉:华中科技大学,2007.
[4] 郭海洋.基于蜂群算法的无人机群协同飞行策略研究[D].哈尔滨:哈尔滨工程大学,2012.
[5] 陈世明,丁贤达,化俞新.大规模机器人群体的分层编队控制算法[J].华中科技大学学报:自然科学版,2014,42(10):52-57.