多模式下无人机紧密编队飞行控制仿真研究  

Simulation research on multi-UAVs tight formation flight control under multi-mode

作　　者：韩其初 徐波 李丹 HAN Qichu;XU Bo;LI Dan(School of Aeronautics and Astronautics,SYSU,Guangzhou 510275,China)

机构地区：[1]中山大学航空航天学院,广东广州510275

出　　处：《飞行力学》2022年第3期28-35,43,共9页Flight Dynamics

摘　　要：针对复杂场景下固定翼无人机紧密编队的飞行控制问题,提出了使用三种不同飞行模式的控制策略以及对应控制参数的优化整定方法。首先建立了考虑涡流效应的紧密编队飞行非线性模型,然后针对不同飞行场景设计了协同飞行模式、队形变换模式和花式飞行模式,最后使用爬山-遗传算法对编队控制器的参数进行了优化。仿真结果表明,所设计的编队控制方法和优化参数可以稳定并有效地进行不同模式下的无人机编队飞行控制。In order to solve the problem of fixed wing UAVs tight formation flight control in complex scenarios,the paper proposed different control strategies under three different flight modes and the optimization method of their corresponding control parameters.Firstly,a nonlinear model of tight formation flight considering wingtip vortices effect was established.Then,three flight modes were designed for different flight scenarios:cooperative flight mode,formation transformation mode and aerobatics flight mode.Finally,the formation control parameters were optimized by genetic algorithm combined with hill-climbing method.The simulation results show that the designed formation control method and the optimized parameters can stably and effectively complete the formation missions under different flight modes.

关 键 词：固定翼无人机 紧密编队 PID控制 遗传算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1