摘要
根据无人机编队飞行空间几何学关系,利用常规无人机自动驾驶仪模型和编队运动学模型建立三维的编队飞行数学模型;针对无人机编队保持与变换控制器设计问题,首次将滑模变结构控制理论引入到飞行编队控制的研究中,并将飞行模型分解为横向、纵向和垂直3个通道,采用3个通道单独设计滑模控制器的方法,降低了滑模变结构控制器的调参难度,简化了控制器的设计问题,为编队保持与队形变换探索出一个新的研究方法。仿真结果表明该控制器的控制效果良好,能保证无碰撞、响应速度快、稳定的保持和变换编队队形,优于传统PID控制器。
According to the UAV formation flying space geometry relationship, the conventional UAV autopilot model and the kinematic model of formation are used to build a three-dimensional mathematical model of formation flying. For the problem of UAV formation keeping and transformation controller design, the sliding mode variable structure control theory is introduced to the study of flight formation control for the first time and the flight model is decomposed into three channels： horizontal, vertical and perpendicular. Using the method of designing sliding mode controllers of three channels individually, control laws are established to reduce the synovial variable structure control scheduling problem, simplify the design of the controller, and explore a new research method for formation keep and change. Simulation results show that the controller has good control effect, can ensure collision-free, fast response, stably maintain and transform formation flying and is better than the traditional PID controller.
出处
《控制工程》
CSCD
北大核心
2016年第2期273-278,共6页
Control Engineering of China
关键词
编队保持与变换
滑膜变结构
编队飞行
无人机
Formation keep and change
sliding mode variable structure
formation flying
UAVs
