太阳能无人机编队基于能量状态的连接控制  

Connection Control of Solar-powered UAV Formation Based on Energy State

作　　者：薛阳 王舒 张亚飞 王琳 吴海东 XUE Yang;WANG Shu;ZHANG Ya-fei;WANG Lin;WU Hai-dong(College of Automation Engineering,Shanghai University of Electric Power,Shanghai 200090,China)

机构地区：[1]上海电力大学自动化工程学院,上海200090

出　　处：《控制工程》2021年第2期401-407,共7页Control Engineering of China

基　　金：国网浙江省电力有限公司科技项目(5211HZ17000F);国家自然科学青年基金资助项目(51405286);上海市自然科学基金资助项目(13ZR1417800);上海市电站自动化技术重点实验室项目(13DZ2273800)。

摘　　要：针对大展弦比无人机难以快速部署以及中小型太阳能无人机的续航能力不足问题,提出太阳能无人机编队最低能耗下的连接控制策略。引入连接顺序权重思想,将节能连接问题分解为一系列优化子问题,分别研究无人机最优连接顺序、最短连接路径和最优飞行速度,利用扩展卡尔曼滤波器对无人机的飞行路径进行预测。对按所求解的最优顺序和随机顺序下的连接能耗进行仿真实验对比,结果表明无人机编队利用所提连接策略进行连接时的能耗最小,也表明连接后所形成的大展弦比太阳能无人机飞行能耗将显著降低。Aiming at the difficulty in rapid deployment of UAVs with large aspect ratio and the lack of endurance of small-sized or medium-sized solar UAVs,the connection control strategy of solar-powered UAV formation with minimum energy consumption is proposed.The idea of connection order weight is introduced,and the energy-saving connection problem is decomposed into a series of optimization sub-problems.The optimal connection order,the shortest connection path and the optimal flight speed of the UAVs are studied respectively.The extended Kalman filter is used to estimate the flight path of the UAVs.The simulation experiments are carried out according to the connection energy consumption in the optimal order and the random order.The results show that the UAV formation can use the proposed connection strategy to connect with the minimal energy consumption,and the flight energy consumption of the solar-powered UAVs with large aspect ratio can be significantly reduced after the connection the energy consumption of the UAV with large aspect ratio formed by connected solar UAVs will be significantly reduced.

关 键 词：太阳能无人机 能量状态 连接 编队飞行 扩展卡尔曼滤波 

分 类 号：V279[航空宇航科学与技术—飞行器设计]