考虑驾驶仪动态特性的多飞行器编队构型控制方法  

Multi-vehicle formation control method considering the dynamic characteristics of autopilot

作　　者：李威 邓钧之 周建平 温求遒[2] 夏群利[2] Li Wei;Deng Junzhi;Zhou Jianping;Wen Qiuqiu;Xia Qunli(Collaborative Innovation Center of Unmanned Aircraft Management and Applied Technology Research,Yunnan Police College,Kunming 650223,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]云南警官学院无人机协同创新中心,昆明650223 [2]北京理工大学宇航学院,北京100081

出　　处：《战术导弹技术》2023年第2期46-56,65,共12页Tactical Missile Technology

摘　　要：针对多枚飞行器的空间编队构型控制问题,综合考虑外部扰动和飞行器驾驶仪一阶动态特性,基于虚拟结构法设计了有限时间收敛的控制律。基于微分几何理论,对飞行器的非线性运动方程进行了精确的线性化处理,得到了解耦的双积分系统;建立了飞行器的跟踪误差矢量模型,采用滑模扰动观测器估计系统扰动,设计了一种新颖的二阶滑模控制律,可保证编队系统渐近收敛并在期望时刻形成最终构型;结合飞行场景,为满足对远距离目标的定位需求,给出了所需满足的空间构型约束条件,并得到了各飞行器在弹目视线坐标系下的期望终端位置矢量。仿真结果表明,所提控制方法可有效消除系统干扰和驾驶仪动态特性的影响,实现视线系下系统构型的高精度控制,蒙特卡洛仿真则进一步验证了控制方法的鲁棒性。Considering the external disturbance and the first-order dynamic characteristics of the autopilot,a finite-time convergence control law is designed based on the virtual structure method for the space configuration control of multiple flight vehicles.Based on the differential geometry theory,the nonlinear kinematic equations of the flight vehicle are linearized,and a decoupled double-integrator system is obtained.The tracking error vector model of the formation system is established,and a novel second-order sliding mode control law with the sliding mode disturbance observer is designed to ensure the asymptotic convergence of the formation system and to form the expected configuration at the desired time.Combined with flight scenario,the configuration constraint conditions are given to meet the positioning requirements of long-distance targets,and the desired terminal position vectors of each member in the line-of-sight(LOS)coordinate system are obtained.The simulation results show that the proposed control method can effectively eliminate the system interference and the effect of the dynamic characteristics of the autopilot,and realize the high precision control of the system formation configuration in the LOS frame.The Monte Carlo simulation further verifies the robustness of the control method.

关 键 词：多飞行器 驾驶仪动态特性 空间编队构型 滑模 控制律设计 有限时间收敛 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]