摘要
为解决军事对抗训练中作战飞机协同编队飞行进袭态势的构建问题,提出一种多无人机协同编队飞行设计方法。采用单机个体路径跟踪控制与多机群体集中控制的综合设计方法,设计多无人机协同编队飞行总体架构,建立多无人机之间的相对运动关系模型,给出飞行实施的控制策略,通过仿真实例验证了多机协同编队控制效果。仿真结果表明:多无人机协同编队控制方式能够实现跟随机对领航机航迹的跟踪,可有效解决在3维空间的编队控制。
In order to solve the problem of cooperative formation flight of combat aircraft in military confrontation training, a cooperative formation flight design method for multi-UAVs is proposed. Using the integrated method of individual path tracking control and group centralized control, the architecture of multi-UAVs cooperative formation flight is designed, the relative motion relationship model between multi-UAVs is established, and the flight implementation control strategy is given. The simulation example verifies the effectiveness of multi-UAVs cooperative formation control. The simulation results show that the cooperative formation control method of multi-UAVs can track the pilot tracks randomly and effectively solve the formation control in 3D space.
作者
韩本刚
毛师彬
马岩
Han Ben’gang;Mao Shibin;Ma Yan(Nanjing Research Institute on Simulation Technique,Nanjing 210016,China)
出处
《兵工自动化》
2019年第12期1-4,9,共5页
Ordnance Industry Automation
关键词
无人机
路径跟踪控制
集中控制
协同编队飞行
UAV
path tracking control
centralized control
cooperative formation flight
作者简介
韩本刚(1982—),男,吉林人,硕士,工程师,从事无人机飞行控制系统设计与仿真研究。E-mail:mk_hbg2005@163.com。
