无人机编队队形保持变换控制器设计

Controller Design of UAVs Formation Keep and Change

研究无人机编队队形保持变换的控制设计问题。由于控制系统队形跟踪应保证姿态的稳定性,针对两架无人机在"长机-僚机"编队结构中的左菱形编队飞行控制系统,为了有效控制飞行队形,保持变换,提出了根据编队飞行的几何关系推导编队相对运动学方程,结合无人机的自动驾驶仪模型建立了相应的编队飞行线性化数学模型。采用PID控制方法分别对速度、航向和高度设计了一种能通过控制编队间距实现队形变换的三维编队队形保持变换的控制器,并进行仿真。仿真结果表明所设计的控制器能够有效地控制无人机编队,在飞行过程中可以稳定地保持队形,并能根据任务要求合理进行编队,并无碰撞,为设计提供了依据。

A controller design method is studied for the formation keeping and changing of UAVs formation flight.Considering two UAVs formation flight in a ＂leader-follower＂ configuration of left diamond,the kinematics equations of the formation deduced from geometry relationship is presented,and the linear mathematical model of the formation flight combined with the autopilot model is established.The 3-D controllers for velocity,heading and altitude channels are designed based on PID control,which can realize formation keepingg and changing by controlling the formation separation distances.Simulation results show that the controller can control UAVs formation effectively,that is,keeping formation under maneuvering situations,and advisably controlling formation changing according to the mission requirements without collision.