无人机集群时变编队控制方法仿真  

Simulation of Time-Varying Formation Control Method for UAV Cluster

作　　者：王波[1] 陈小庆 WANG Bo;CHEN Xiao-qing(National Defense Science and Technology Innovation Research Institute,Academy of Military Sciences,Beijing 100000,China)

机构地区：[1]军事科学院国防科技创新研究院,北京100000

出　　处：《计算机仿真》2022年第10期40-43,238,共5页Computer Simulation

摘　　要：为解决多架无人机编队精准路径规划问题,提出基于势函数的无人机集群时变编队控制方法。在二维引力场中加入虚拟引力场,利用无人机引力与斥力势函数,分别构建引力场与斥力场,计算三维空间内势能总和;在大地与机体坐标系下,选用欧拉角构建无人机动力学模型,获取飞行特征,有利于编队过程中有效躲避障碍物;利用有向图描述机群间通信状况,得到通信拓扑系统方程,采用比例-积分控制算法分别计算无人机集群的飞行速度、航向、高度与期望值之间误差,通过设置不同控制器实现时变编队控制。仿真结果证明,上述方法能够精准切换期望队形,控制性能稳定,且具备良好的通信能力。In order to improve the path planning accuracy of multi-UAV formation, this paper presented a time-varying formation control method for UAV cluster based on potential function. Firstly, a virtual gravitational field was added to the two-dimensional gravitational field, and then gravitational and repulsive potential functions of UAV were used to construct the gravitational field and repellant field and calculate the total potential energy in three-dimensional space. In the geodetic and aircraft-body coordinate system, the Euler angles were adopted to construct a UAV dynamic model, thus obtaining flight characteristics, which was conducive to effectively avoiding obstacles in the process of formation. Moreover, directed graphs were used to describe the communication status between air fleets, and thus to obtain the communication topology system equation. Furthermore, a proportional integral control algorithm was used to respectively calculate the errors among flight speed, aircraft heading, flight altitude and expected value of the UAV cluster. Finally, the time-varying formation control was achieved by setting different controllers. Simulation results show that the proposed method can accurately switch the desired formation, and has stable control and good communication ability.

关 键 词：势函数 无人机 集群系统 时变编队控制 比例-积分控制 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]