无动力飞行器编队控制方法  

Formation control methods for unpowered aerial vehicles

作　　者：王成泽 严佳民[1] 吕瑞 梁卓[1] 陈扬 WANG Chengze;YAN Jiamin;LYU Rui;LIANG Zhuo;CHEN Yang(China Academy of Launch Vehicle Technology,Beijing 100076,China)

机构地区：[1]中国运载火箭技术研究院,北京100076

出　　处：《航天控制》2025年第2期1-9,共9页Aerospace Control

摘　　要：为实现无动力飞行器的编队飞行,实现集群在三维空间中的队形误差收敛,提出了基于一致性理论的编队控制方法。首先,针对编队集群仅具有负加速度的特性,对一致性理论进行了修正,提出了适用于无动力飞行器的纵向控制方法;其次,引入倾侧角分配与翻转策略,在升力优先满足高向控制需求的情况下,使得倾侧角按横向误差走廊翻转,从而同时消减高向和横向误差;最后,仿真验证了本文方法对不同编队数量和通讯拓扑结构的适应性。仿真结果表明,在给定的初始条件范围内,本文方法能够适应各种初始状态下的编队控制;集群初始状态对编队时间和集群速度损失有显著影响;拓扑结构中有向边数量更多的集群,平均编队时间和平均集群速度损失会更少。In order to achieve formation flight for unpowered aerial vehicles and ensure the convergence of formation errors in three-dimensional space,a formation control method based on consensus theory is proposed.Firstly,by taking into account the formation group′s characteristics of only having negative acceleration,the consensus theory is modified,and a longitudinal control method suitable for unpowered aerial vehicles is introduced.Next,a bank angle distribution and flipping strategy is involved,and under the condition that the lift is prioritized to satisfy high-directional control requirements,the bank angle flips by the lateral error corridor,thereby both high-directional and lateral errors are simultane-ously reduced.Finally,simulations are conducted to verify the adaptability of the proposed method to various formation sizes and communication topologies.The simulation results demonstrate that,within the given range of initial conditions,the proposed method can effectively control the formation in different initial states.Moreover,the initial state of the cluster has significantly impacts on formation time and cluster speed loss and average formation time and lower average cluster speed have less loss while there are clusters with more directed edges in the topology structure.

关 键 词：无动力飞行器 编队控制 一致性理论 拓扑结构 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]