无人机编队飞行的分布式控制策略与控制器设计

55Vo.l5.5201010CAAITransactionsonIntelligentSystemsOct.2010do:i10.3969/.jissn.16734785.2010.05.003朱杰斌,秦世引(北京航空航天大学自动化科学与电气工程学院,北京100191):,,.,.FDC(flightdynamicandcontrol).,.:;;;:TP273.1:A:16734785(2010)05039208DistributedcontrolstrategyandcontrollerdesignforUAVformationflightZHUJiebin,QINShiyin(SchoolofAutomationScienceandElectricalEngineering,BeihangUniversity,Beijing100191,China)Abstract:InviewofthepracticalbackgroundandconstraintsofformationflightforaclassofsmallUAVmodels,somekeyproblemsinvolvedinformationfligh,tsuchasmaintainingformation,environmentalconstraints,andbehaviorcoordinationwereanalyzedindepthinordertointroducethedistributedcontrolstrategyforformationflightanddiscussitsadvantages.Accordingtothehierarchicalconceptsandorganizationalstructureofdistributedcontrols,thecontrollerdesignforbothsingleUAVandmultiUAVformationswerestudied,respectively.Therefore,theFDC(flightdynamicsandcontrol)simulationforsingleUAVandgeneralSimulinksimulationfortwoUAVformationflightswerecarriedoutseparately.Thesimulationresultsshowthattheproposedcontrollersprovidesomeoutstandingadvantagesinexecutiveefficiencyandcontrolperformance.Keywords:unmannedaerialvehicle;distributedcontro;lflightcontro;lformationflight:20100726.:(D212006001);(60736025);(60875072).:.Emai:[e-mail].,.,[1].,,,.,,[1].[2],,.,.[3]FDC(flightdynamicandcontrol),.,.,,[45].,,,,,.,,,..1问题的提法1.1,,.,.,,,.,[1].,,..,.,[6].DFF!D∀-L∀WV.:DFF,D∀,L∀,W,V.,,,.,.1.2,,,,,,,,2,.,,.,,,.,,,,.2分布式控制策略及其优越性,:,,[7].1.1Fig.1Formationconfigurationofdistributedcontrols1,V1,V2V4V1V1,V1;V3V2,,V5V4,.,.,,,,,.,,.,,[1].3飞行动态模型和扰动分析2.1.#393#5,:2Fig.2ProfileofthesmallUAV1Table1InstructionofsignsVpmqTrDMxLMzZMyXIxYIyZIz!XXd∀YYd#ZZd!sb∀sS∃eq∃ac∀T,12,.mdVdt=Tcos(+%T)cos-D-mgsin,mVd#dt=T[cos(+%T)sinsin∀S+sin(+∀T)cos∀s]+Lcos∀S-Zsin∀S-mgcos#,-mVcos#d&sdt=T[-cos(+%T)sincos∀s+sin(+%T)sin∀s]+Lsin∀s+Zcos∀s,dxddt=Vcos#cos!s,dyddt=Vsin#,dzddt=-Vcos#sin!s,Ixdpdt=Mx-(Iz-Iy)q#r,Iydrdt=My-(Ix-Iz)p#q,Ixdqdt=Mz-(Iy-Ix)p#r,d!dt=1cos(rcos∀-qsin∀),ddt=rsin∀+qcos∀,d∀dt=p-tan(rcos∀-qsin∀).,.2,,,:1)(),.2),,[8].∀=∃0p=r∃0,(,∀,p,r,!):mV=Tcos-D-mgsin#,mV#=Tsin+L-mgcos#,=q-#,Izq=Mz.:TDLMz,,,,.,mV=(T0+Tv∋v+T∃e∃e)cos-(D0+Dv∋v+D∋+D∃e∃e)-mgsin#,mV#=Tsin+(L0+Lv∋v+L∋+L∋+Lq∋q+D∃e∃e)-mgcos#,=q-#,Izq=Mz0++Mzv∋v+Mz∋+Mz∋+Mzq∋q+Mz∃e∃e.:mV=(Zo+Z∋+Zp∋p+Zr∋r+#394#5Z∃a∃a+Z∃e∃e)-mV(-psin+rcos),∀=p-(rcos∀-qsin∀)tan,!=rcos∀-qsin∀cos,Ixp=Mx0+Mx∋+Mxp∋p+Mxr∋r+Mx∃∃a+Mx∃e∃e,Iyr=My0+My∋+Myp∋p+Myr∋r+My∃a∃a+My∃e∃e.,.4控制器设计,.,,()[9].4.1,().,,:X=AlonX+Blonu,Y=ClonX+Dlonu.:X=[VqH]T,V,,q,,H,u=[∃e∃T]T.∃e∃T.,,Alon=-0.06415.25790-9.8000-0.0000-0.0309-5.04971.00000-0.0012-0.0287-26.2897-4.17580-0.0000001.0000000-150150,Blon=0274.95020.4336-1.6634-34.865000000,Clon=I5,Dlon=05%2.1)....,,,.TyreusLuybenPI[10].∃e=Kp(g-)+KI&(g-)dt-kqq.(1):Kp,KI,kq,g(:K,p,I;,(1);k,).2)..,UAV.,.,,,,,,∋H[11].3Fig.3Organizationstructureofheightcontroller#395#5,:∃e=Kp(c-)+Ki&(c-)dt-kqq,c=KHp∋H+KHI&∋Hdt.:∋H=Hg-H-kHH.3)..4.,UAV,UAV,,,UAV.4Fig.4Organizationstructureofvelocitycontroller2,,.∃T=KVp(∋V+KvV)+KVI(∋V+KvV)dt.:∋V=Vg-V.4.2,.,..1).,,.∃a=K∀p∋∀+K∀I&∋dt.:∋∀=∀g-∀-kpp.2).,.∃a=K∀p∋∀+K∀I&∋∀dt+K!p∋!+K!I&∋!dt.:∋!=!g-!-k!!.,.,!=gV0∀,5.5Fig.5Organizationstructureoflateralautopilot4.3,..,6.6Fig.6Thereferencecoordinatesystemofwingman,(x,y,z),dxdt=VLcos!e-!Wy-VW,dydt=VLsin!e-!Wx,z=hW-hL.:!e=!L-!W.,(x,y,z),!hV3.3.,x#396#5yz.VWc!Wc.VWc=Kxp(xl-xW),!Wc=Kyp(yl-yW)+KyI&(yl-yW)dt.:l,W.,.5仿真分析与性能评价5.1FDCFDC.DelftMarcRauwSimulink[12].Matlab/FDC,:1)V=15m/s,=5.1853∋,H=30.2)10s..5.1.1速度控制器的仿真结果分析:3s∋V=5m/s.7Fig.7Simulationresultsofvelocitycontroller7,UAV,2s.,,1.5∋.,UAV15m/s20m/s,3cm,.5.1.2高度控制器的仿真结果分析:,,.,1s∋H=6m.8.8Fig.8Simulationresultsofheightcontroller,UAV6m,60∋,,,1.5s,UAV2s.5.1.3横航向控制器的仿真结果分析:,UAV,,,.,010.9~10.9Fig.9Simulationresultsoflateralautopilot#397#5,:10Fig.10Changeofheightandsideslipangle92,,0,,1s.101,UAV,,,0.102,,,0.,,.5.2,,().Matlab/Simulink.1)2;2)15m/s;3):20m;4):10m;5)15s;6)60s.11.,,.15s,,..11Fig.11SimulationresultsoftwoUAVformation5.3..,3,.[5],UAV,.,.,,,UAV,.,,,.,,[2].6结束语3,,,.FDC,#398#5..:[1],.[J].,2007,25(1):911.LIWenhao,ZHANGHeng.Reviewsonunmannedaerialvehicleformationflight[J].FlightDynamic,2007,25(1):911.[2]PACHTERM,DA'ZZOJJ,DARGANJL.Automaticformationflightcontrol[J].AIAAJournalofGuidance,ControlandDynamics,1994,17(6):838857.[3]WANS,CAMPAG,NAPOLITANOM.Designofformationcontrollawsforresearchaircraftmodels[C]//ProceedingsoftheAIAAGuidance,Navigation,andControlConferenceandExhibit.Austin,Texas:AIAA,2003:57305740.[4]LISM,MEHRAKR.Globallystableautomaticformationflightcontrolintwodimensions[C]//ProceedingsoftheAIAAGuidance,Navigation,andControlConferenceandExhibit.Montrea,lCanada:AIAA,2001:40464053.[5]GUY,SEANNORB,CAMPAG.Designandflighttestingevaluationofformationcontrollaws[J].IEEETransactionsonControlSystemsTechnology,2006,14(6):11051112.[6].[D].:,2008.FANQiongjian.KeytechniquesresearchofcooperativeformationbiomimeticflightcontrolformultiUAV[D].Nanjing:NanjingUniversityofAeronauticsandAerospace,2008.[7],,.MAS[J].,2008,29(5):13261333.ZONGLingbe,iXIEFan,QINShiyin.Intelligentopti