四旋翼运输编队的环形耦合同步控制器设计  

Design of Loop Coupling Synchronous Controller for Quadrotor Transport Formation

作　　者：范琦涵 胡士强[1] FAN Qihan;HU Shiqiang(Institute of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai 200000,China)

机构地区：[1]上海交通大学航空航天学院,上海200000

出　　处：《电光与控制》2021年第6期57-63,共7页Electronics Optics & Control

基　　金：航空科学基金(20142057006)。

摘　　要：无人机编队协同运输时,外界干扰可能使无人机运动不同步、破坏队形、损坏运输物品。针对这一问题,提出一种优先保持队形稳定的无人机编队控制方法。首先,使用虚拟结构编队飞行策略,设计单个四旋翼的比例微分控制器(PD控制器),然后添加整个编队的环形耦合同步控制器。用仿真验证了该方法的有效性,与已有的虚拟状态估计控制方法相比,该方法在受到干扰后回归队形的时间更短,队形破坏程度更小。同时该方法还可以进一步使偏航角同步响应。When a UAV formation is performing transportation tasksthe external interference may make the movement of the UAVs be out of syncdestroy the formation and damage the transported goods.To solve this problema UAV formation control method is proposedin which keeping the formation stable is its priority.By using the virtual-structure formation flight strategyProportional-Differential(PD)controller of the individual quadrotor is designedto which the loop coupling synchronous controller of the whole formation is added.The validity of this method is verified by simulation.Compared with the method of estimating the virtual leader's statethis method ensures that the UAVs can return to the formation in shorter time with smaller damage on the formation after being disturbed.Moreoverthis method can make the yaw angle respond synchronously.

关 键 词：同步控制 无人机编队 队形保持 稳定性分析 虚拟结构法 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]