摘要
针对可模拟四、五代先进战斗机高速高机动能力的固定翼靶机在有限靶场空间内进行实战训练的协同编队控制问题,提出基于一致性理论的改进编队控制律。首先,进行靶机运动学建模;其次,在一致性理论的基础上,将加速度引入编队控制律中,设计了基于位置、速度、加速度反馈的编队控制律;进一步,考虑靶场空间限制,提出一种基于路径最短的队形变换策略,以实现快速队形变换。仿真结果表明,所提出的考虑加速度反馈的改进一致性编队控制律在进行编队成形与变换时,能够使靶机编队状态快速收敛到期望值,实现队形的快速调整与稳定保持。
Aiming at the problem of coordinated formation control of fixed-wing unmanned target drone aircraft(UTDA)that can simulate the high-speed and high-maneuverability of the fourth and fifth generation advanced fighters in the actual combat training within a limited flight aera,an improved consensus-based formation control law is proposed.Firstly,the kinematics model of the UTDA is established.Secondly,based on the consensus theory,the acceleration is considered,and a formation control law is designed with the feedback of position,velocity and acceleration.Furthermore,considering the limited flight aera,a formation change strategy is proposed based on the shortest path to achieve rapid formation change.The simulation results show that the proposed improved consensus formation control law considering acceleration feedback can make the formation state of the UTDA converge to the expected values quickly,and realize the rapid formation adjustment and stable formation keeping.
作者
郭晓雯
岳艳军
凡永华
闫杰
吴宝元
Guo Xiaowen;Yue Yanjun;Fan Yonghua;Yan Jie;Wu Baoyuan(Xi’an Aerospace Propulsion Institute,Xi’an 710100,China;Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China;School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China)
出处
《航空兵器》
CSCD
北大核心
2022年第2期72-79,共8页
Aero Weaponry
基金
航空科学基金项目(20180753007)。
关键词
无人靶机
编队控制
协同控制
一致性理论
队形保持
队形变换
unmanned target drone aircraft
formation control
coordinated control
consensus theory
formation keeping
formation switching
