基于四旋翼无人机集群协同编队飞行的控制策略转换研究  

Research on Control Strategy Conversion for Collaborative Formation Flight of Quadrotor Unmanned Aerial Vehicle Cluster

作　　者：潘持玉 贾磊 宋馨怡 张占一[2] PAN Chiyu;JIA Lei;SONG Xinyi;ZHANG Zhanyi(Shenyang University of Technology,Shenyang 110158,China;Beijing Oriental Institute of Vibration and Noise Technology,Beijing 100085,China)

机构地区：[1]沈阳理工大学,辽宁沈阳110158 [2]北京东方振动和噪声技术研究所,北京100085

出　　处：《工业技术与职业教育》2024年第2期8-13,共6页Industrial Technology and Vocational Education

基　　金：辽宁省教育厅面上项目“航空发动机多油门杆驱动电机的同步控制研究”(项目编号:LJKMZ20220602)。

摘　　要：在目前无人机协同编队飞行的研究中,主要采用领航-跟随结构法的主从控制策略;但是在实际工况中一旦主无人机发生损毁,则编队飞行就会无法实现。基于上述情况,建立了四旋翼无人机动力学模型,使用数值仿真对四旋翼无人机协同编队飞行策略的转换进行了研究。首先,通过四旋翼无人机采用领航-跟随结构法进行了集群协同编队飞行时的模型建立并且进行相关仿真。其次由于该结构法存在鲁棒性差,较为依赖信号稳定性且同时存在主无人机损毁的风险;因此研究了四旋翼无人机采用交叉耦合结构法进行集群协同编队飞行时的模型并且进行了相关的仿真,验证了其可行性。最后为了加强四旋翼无人机协同编队时的稳定性,研究了在飞行过程中两种不同的飞行策略进行转换的协同控制器并且进行了仿真验证了其可行性。Based on the establishment of a dynamic model and simulation data of quadcopter unmanned aerial vehicles,the transformation of collaborative formation flight strategy for quadcopter unmanned aerial vehicles was studied.Firstly,the model of group collaborative formation flight using the pilot-following structure method for quadcopter unmanned aerial vehicles was studied and relevant simulations were conducted.Due to the shortcomings of poor robustness and reliance on signal stability in this structure method,the conversion of collaborative formation flight strategy for quadcopter unmanned aerial vehicles was studied.Therefore,a model of quadcopter unmanned aerial vehicles using cross coupling structure method for cluster collaborative formation flight was studied,and relevant simulations were conducted to verify its feasibility.Finally,in order to enhance the stability of collaborative formation of quadcopter unmanned aerial vehicles,a collaborative controller that converts two different flight strategies during flight was studied and its feasibility was verified through simulation.

关 键 词：四旋翼无人机 动力学模型 领航-跟随结构法 交叉耦合结构法 协同控制器 

分 类 号：V279[航空宇航科学与技术—飞行器设计]