多无人机协同编队控制及试飞验证  

Multi⁃UAV cooperative formation control and flight test verification

作　　者：赵创新 遆好建 李照宏 冯山 杨述星 唐鹏 ZHAO Chuangxin;TI Haojian;LI Zhaohong;FENG Shan;YANG Shuxing;TANG Peng(Chengdu Aircraft Industrial(Group)Co.Ltd.,Chengdu 610091,China)

机构地区：[1]成都飞机工业(集团)有限责任公司,成都610091

出　　处：《航空学报》2024年第17期319-330,共12页Acta Aeronautica et Astronautica Sinica

基　　金：省部级项目。

摘　　要：针对固定翼无人机(UAV)多机协同编队飞行控制与管理,提出适用于大规模编队组网的控制方法与状态管理框架。首先,给出了通用化的队形设计方法,利用最小编队单元可以组合设计任意队形,基于开放式的多机自组网架构,构建了“大队长-小队长-僚机”三级动态组网体系。其次,建立起长机-僚机编队运动方程,针对僚机前向、横航向通道,提出了非线性编队保持控制律,理论证明了各通道对目标位置的收敛性。对于高度通道,以升降速率和高度信号为制导回路主控信号,给出了俯仰角动态调整目标值。针对多机编队解散问题,根据僚机与长机的相对位置关系,设计了滚转脱离策略,控制僚机有序解散,确保编队飞行安全。最后,基于某型缩比无人机开展了3机、4机与5机“人形”、“菱形”队形飞行试验,试验结果表明各无人机对目标位置、高度、航向及速度具有良好的跟踪性能,队形保持具有较强的鲁棒性能,多机协同飞行实现了从编队集结、保持、重构至编队解散、单机着陆全过程的控制与管理。Aiming at the control and management of multi-aircraft cooperative formation flight for fixed-wing Unmanned Aerial Vehicle(UAV),a control method and state management framework suitable for large-scale formation network⁃ing is proposed.Firstly,a general formation design method is given,any formation can be designed by using the mini⁃mum formation unit.Based on the open multi-machine ad-hoc network architecture,a three-level dynamic network system of“Leader-Captain-Wingman”is constructed.Secondly,the formation motion equation of captain-wingman is established,and a nonlinear formation keeping control law is proposed for the forward and directional lateral motion of wingman.The convergence of each channel to target position is theoretically proved.For the altitude channel,the tar⁃get value of dynamic adjustment of pitch angle is given with the lift rate and altitude signal as the main control signal of the guidance loop.According to the relative position relationship between wingman and captain,the rolling disconnec⁃tion strategy is designed to control the orderly disbanding of wingman and ensure the safety of formation flight.Finally,flight tests of“humanoid”and“diamond”formation of 3,4 and 5 UAVs were carried out based on a certain type of re⁃duced ratio UAVs.The test results show that each UAV has good tracking performance for target position,altitude,heading and speed,and the capability of formation maintenance has strong robustness.The multi-aircraft cooperative flight achieves the control and management of the whole process from formation assembly,maintenance and recon⁃struction to formation dissolution and single landing.

关 键 词：无人机 动态组网 编队控制 编队保持 非线性控制 

分 类 号：V24[航空宇航科学与技术—飞行器设计]