无人作战飞机自主控制分级递阶控制结构

Hierarchical Control Architecture of Autonomous Control for Unmanned Combat Aerial Vehicles

把智能控制领域的分级递阶控制结构应用于无人作战飞机(UAV)自主控制的结构设计,根据"精度随智能降低而提高(IPDI)"的原则,把该控制系统分为3个层次:执行级、协调级和组织级。执行级完成高精度的局部控制任务;协调级产生航迹及导航信号,并对子系统的工作进行协调;组织级提供决策支持。提出了通过内外回路的方法来实现整个控制系统的硬件。根据每一级的功能需求,提炼出在多任务模式下各级的关键技术,进行了模块化分解,并分析了它们之间的逻辑关系。重点阐述了协调级和组织级的约束条件及实现过程。

The hierarchical control architecture deduced from intelligent control is applied to unmanned combat aerial vehicles （UCAVs）. According to the laws of increasing precision with decreasing intelligent （IPDI）, the architecture consists of three levels： execution level, coordination level and organization level. The execution level executes part of the exact control the tasks. The coordination level coordinates the work of subsystem and generates navigation signal and trajectory. The organization level performs decision-making support. The inner-outer loop method is employed to achieve the hardware of the whole control architecture. The key technologies for multi-tasks are modularized according to the function requirements of every level. The logical relationships of the key technologies are analyzed. The constraint condition and realizations of coordination level and organization level are studied comprehensively.