面向协同突防的无人飞行器自动编队控制  

Automatic Formation Control of UAVs Toward Cooperative Penetration

作　　者：陈天立[1] 周超[2,3] 周绍磊[3] 陈洁[3] 

机构地区：[1]中国人民解放军61081部队 [2]中国人民解放军92857部队 [3]海军航空工程学院控制工程系

出　　处：《电光与控制》2014年第5期58-62,共5页Electronics Optics & Control

基　　金：航空科学基金(20110184001)

摘　　要：对无人飞行器编队协同干扰式突防问题进行了描述。基于有限状态机设计了管理编队协同突防中离散事件的编队管理器,负责接收外部指令、参考点位置、邻居状态以及无人飞行器自身的状态,并对编队控制律进行切换,对编队协同干扰突防进行分析并确定了自动编队控制的流程。仿真结果表明,所设计的编队管理器能够根据各离散事件自动切换编队控制律,完成编队队形保持与重构之间的转换;实时解算的期望位置满足协同干扰突防所要求的编队构型约束条件,所提出的方法是可行、有效的。The issue of UAV formation cooperative jamming penetration was studied .A formation manager was designed based on finite machine,mainly for receiving commands,reference point position,neighbor states and its own states .It could manage discrete events in the process of formation cooperative penetration and switch between the formation control laws .The process of formation cooperative penetration was analyzed,and the flow of automatic formation control was confirmed .Simulation results show that the designed formation manager can switch the formation control law automatically according to each discrete event,and accordingly,to achieve changes between formation keeping and formation reconfiguration .The desired position calculated in real time satisfies the constraints for formation in penetration .The proposed method is feasible and effective .

关 键 词：协同突防 无人飞行器 编队管理器 自动编队控制 有限状态机 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]