无人机紧密编队协同控制设计与仿真  

Close Formation Coordinated Flight Control Design for UAVs

作　　者：陈春东[1] 魏瑞轩[1] 董志[2] 张立鹏[1] 钮磊[3] 

机构地区：[1]空军工程大学航空航天工程学院 [2]中国人民解放军驻沈阳飞机工业集团有限公司军事代表室 [3]中国人民解放军94590部队

出　　处：《电光与控制》2012年第7期18-22,27,共6页Electronics Optics & Control

摘　　要：研究了紧密编队无人机所受气动耦合的影响以及三维环境下的编队控制方法,分析了在气动耦合影响下编队的动力学特性和运动学特性,建立了紧密编队控制的数学模型。根据编队飞行实体试验的工程控制方法,采用经典PID控制设计了紧密编队控制系统。仿真实验表明,设计的控制系统能够较好地实现无人机紧密编队队形形成与保持,并且具有编队形成速度快、编队误差小的优点。The effect of aerodynamic coupling on UAV close formation and the control method for the formation in 3D environment were studied. Both the dynamic and kinematic characteristics of the formation under the effect of aerodynamic coupling were analysed, and the mathematical model of close formation control was established. According to engineering control method of real identity validating process for formation flight, a system for close formation control was designed based on classical PID method. Simulation showed that the system is able to form and maintain a stable UAV close formation rapidly with small formation error.

关 键 词：无人机 紧密编队 气动耦合 PID控制器 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP301.6[自动化与计算机技术—计算机系统结构]