CN109669473A - A kind of marshalling aircraft intelligent motion control method - Google Patents
A kind of marshalling aircraft intelligent motion control method Download PDFInfo
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- CN109669473A CN109669473A CN201811488276.3A CN201811488276A CN109669473A CN 109669473 A CN109669473 A CN 109669473A CN 201811488276 A CN201811488276 A CN 201811488276A CN 109669473 A CN109669473 A CN 109669473A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a kind of marshalling aircraft intelligent motion control method, multiple groups aircraft number is set { 1,2,3N }；Number is the real time position P of N aircraftN(t)=(x, y, z), and seek real-time speedChoosing single aircraft in aircraft marshalling, as control aircraft, master control aircraft sends to remaining from aircraft and accuses signal, and is positioned, and master control aircraft works tAAfter time, control function and positioning function are transferred to remaining aircraft for not serving as master control function, control instruction signal content is solved by constraint condition, if being solved in formula (1)-(4)Maneuvering range beyond aircraft, then with initial position (x0,y0,z0) and target position (x1,y1,z1) it is that round edge point carries out making to justify, it is denoted as round O, the motor-driven steering maximum steering force of aircraft isCircle O withTangent, aircraft flies along the circular arc of circle O to predetermined angular；During the present invention is implemented, the operation flown to designated position not can be completed by once positioning and operating by negative-feedback regu- lation.
Description
Technical field
The present invention relates to aircraft field of intelligent control, and in particular to a kind of marshalling aircraft intelligent motion control method.
Background technique
In recent years, the multi-machine collaborative operation marshalling of unmanned plane is with control by international concern.Multi-machine collaborative operation marshalling
Refer to control and fly according to the manipulation multiple UAVs marshalling of certain control mode, in order to realize mission requirements, to any formation
It generates, variation and keep, including the path planning and tissue of aerial mission, have that scope of investigation is wide, search range is wide, can
It is performed simultaneously multitask, reduces the advantages that power.The multi-machine collaborative operation marshalling and control of unmanned plane are that the following unmanned plane flies
One important trend of row technology development.There are very high research level in foreign countries to multi-machine collaborative operation marshalling and control, and just
In making great efforts towards industrial production direction.It is domestic then rest on the initial research stage compared to foreign countries, to multi-machine collaborative flight control with
Grouping method research has very great development space and research needs.Multi-machine collaborative operation marshalling and the research of control are related to heating power
The different fields such as, bionics, automatic control need cross-cutting to be learnt and studied.
The research of multi-machine collaborative operation marshalling and control is related to air force, sensor, electronics, computer, control, leads to
The intersection of multiple subjects and technical field such as letter and artificial intelligence, so the multi-machine collaborative operation marshalling of unmanned plane and control method
Research is sufficiently complex.The unmanned plane researchers of country variant have in multi-machine collaborative operation marshalling and control field
Good research achievement, but the exploitation for being applied to practical multi-machine collaborative operation marshalling and controlling is few in number, has huge
Research and develop space.
Multi-machine collaborative Operation control is the more burning hot research contents of exploitation unmanned plane recent years, mainly study how
It realizes multi-machine collaborative control, and completes aerial work.Every country researcher is more more to multi-machine collaborative theoretical research, due to
It is more to be related to field, complexity is higher, and applied to the very few of actual development, multi-machine collaborative Operation control has wide
Development prospect.
A kind of unmanned plane cluster system is disclosed in the patent of Patent No. CN106708090A, which is characterized in that packet
Include: at least one unmanned plane group of planes, each unmanned plane group of planes at least one described unmanned plane group of planes include: a master control without
Man-machine and M connect with M from control UAV Communication from control unmanned plane, the master control unmanned plane, and M is the integer more than or equal to 1；
The master control unmanned plane, for sending N number of control instruction to the M from first in control unmanned plane from control unmanned plane, N is big
In the integer for being equal to 1；Described first from control unmanned plane, for obtaining acquisition number by receiving and executing N number of control instruction
According to, and give the acquisition data transmission to the master control unmanned plane.
But in aforesaid way, still need to waste the calculation power of airborne computer by multiple feedback regulation, reduces continuous
Boat.
Summary of the invention
It is an object of the invention to overcome the above-mentioned problems in the prior art, a kind of marshalling aircraft intelligence fortune is provided
Flowing control method improves the control effect of marshalling aircraft, does not need multiple feedback regulation.
To realize above-mentioned technical purpose and the technique effect, the present invention is achieved through the following technical solutions:
A kind of marshalling aircraft intelligent motion control method, comprising the following steps:
Single aircraft is numbered in step S1, and multiple groups aircraft number is set { 1,2,3N }；
Step S2, number are the real time position P of N aircraftN(t)=(x, y, z), and seek real-time speed
Step S3 chooses master control aircraft, receives control signal, controls entire flight marshalling；
Step S4, from (x0,y0,z0) it is moved to (x1,y1,z1) be set asIn (x0,y0,z0) speed of position isIt issues
After instruction, adjustment aircraft thrust isMeet following constraint condition
According to formula (1)-(4), solveAs control instruction signal content.
Further, the step S3 is specifically included,
Step S3.1, chooses in aircraft marshalling single aircraft as control aircraft, master control aircraft to remaining
It is sent from aircraft and accuses signal, and positioned,
Step S3.2, master control aircraft work tAAfter time, control function and positioning function are transferred to remaining and do not carried on a shoulder pole
Appointed the aircraft of master control function,
Master control function transfer in step S3.3, circulation step S3.2.
Further, in the step S4, measuring and calculating instruction, which is issued to aircraft, completes response time tB, then by initial position
(x0,y0,z0) be newly defined as
Further, it if in the step S4, is solved in formula (1)-(4)Maneuvering range beyond aircraft, then
With initial position (x0,y0,z0) and target position (x1,y1,z1) it is that round edge point carries out making to justify, it is denoted as round O, aircraft is along this
Circular arc flies to predetermined angular.
Further, the motor-driven steering maximum steering force of aircraft isCircle O withIt is tangent, aircraft along
The circular arc of circle O flies to predetermined angular.
Income effect of the invention is:
The operation flown to designated position not can be completed by once positioning and operating by negative-feedback regu- lation.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the flow diagram of marshalling aircraft intelligent motion control method of the present invention；
Fig. 2 is the schematic diagram for controlling flight path；
Fig. 3 is the flight path schematic diagram beyond aircraft maneuvering range.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1-3, of the invention are as follows:
A kind of marshalling aircraft intelligent motion control method, comprising the following steps:
Single aircraft is numbered in step S1, and multiple groups aircraft number is set { 1,2,3N }；
Step S2, number are the real time position P of N aircraftN(t)=(x, y, z), and seek real-time speed
Step S3 chooses master control aircraft, receives control signal, controls entire flight marshalling；
Step S4, from (x0,y0,z0) it is moved to (x1,y1,z1) be set asIn (x0,y0,z0) speed of position isIt issues
After instruction, adjustment aircraft thrust isMeet following constraint condition
According to formula (1)-(4), solveAs control instruction signal content.
Further, the step S3 is specifically included,
Step S3.1, chooses in aircraft marshalling single aircraft as control aircraft, master control aircraft to remaining
It is sent from aircraft and accuses signal, and positioned,
Step S3.2, master control aircraft work tAAfter time, control function and positioning function are transferred to remaining and do not carried on a shoulder pole
Appointed the aircraft of master control function,
Master control function transfer in step S3.3, circulation step S3.2.
Further, in the step S4, measuring and calculating instruction, which is issued to aircraft, completes response time tB, then by initial position
(x0,y0,z0) be newly defined as
Further, it if in the step S4, is solved in formula (1)-(4)Maneuvering range beyond aircraft, then
With initial position (x0,y0,z0) and target position (x1,y1,z1) it is that round edge point carries out making to justify, it is denoted as round O, aircraft is along this
Circular arc flies to predetermined angular.
Further, the motor-driven steering maximum steering force of aircraft isCircle O withIt is tangent, aircraft edge
Circle O circular arc fly to predetermined angular.
One concrete application of the present embodiment are as follows:
Single aircraft is numbered, multiple groups aircraft number is set { 1,2,3N }；
Number is the real time position P of N aircraftN(t)=(x, y, z), and seek real-time speed
Single aircraft in aircraft marshalling is chosen to send out as control aircraft, master control aircraft to remaining from aircraft
Charge signal is sent, and is positioned, master control aircraft work tAAfter time, control function and positioning function are transferred to remaining
The aircraft of master control function, circulation master control function transfer were not served as；
Measuring and calculating instruction, which is issued to aircraft, completes response time tB, then by initial position (x0,y0,z0) be newly defined as
From (x0,y0,z0) it is moved to (x1,y1,z1) be set asIn (x0,y0,z0) speed of position isAfter issuing instruction,
Adjusting aircraft thrust is
Meet following constraint condition
According to formula (1)-(4), solveAs control instruction signal content,
If being solved in formula (1)-(4)Maneuvering range beyond aircraft, then with initial position (x0,y0,z0) and
Target position (x1,y1,z1) it is that round edge point carries out making to justify, it is denoted as round O, the motor-driven steering maximum steering force of aircraft is
Circle O withTangent, aircraft flies along the circular arc of circle O to predetermined angular.
In aforesaid operations, compare traditional approach, can not be complete by once positioning and operating by negative-feedback regu- lation
The operation of the designated position Cheng Feizhi.
In the description of this specification, the descriptions such as reference term " one embodiment ", " example ", " specific example " mean to tie
Specific features, structure, the material for closing embodiment or example description live feature and are contained at least one embodiment of the present invention
Or in example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.And
And particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples with suitable
Mode combine.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (5)
1. a kind of marshalling aircraft intelligent motion control method, it is characterised in that: the following steps are included:
Single aircraft is numbered in step S1, and multiple groups aircraft number is set { 1,2,3 ... N }；
Step S2, number are the real time position P of N aircraftN(t)=(x, y, z), and seek real-time speed
Step S3 chooses master control aircraft, receives control signal, controls entire flight marshalling；
Step S4, from (x0, y0, z0) it is moved to (x1, y1, z1) be set asIn (x0, y0, z0) speed of position isIssue instruction
Afterwards, adjustment aircraft thrust isMeet following constraint condition
According to formula (1)-(4), solveAs control instruction signal content.
2. a kind of marshalling aircraft motion control method according to claim 1, it is characterised in that: the step S3 is specific
Including,
Step S3.1, chooses in aircraft marshalling single aircraft as control aircraft, and master control aircraft is to remaining from flying
Row device, which is sent, accuses signal, and is positioned,
Step S3.2, master control aircraft work tAAfter time, by control function and positioning function be transferred to remaining do not served as it is main
The aircraft of function is controlled,
Master control function transfer in step S3.3, circulation step S3.2.
3. a kind of marshalling aircraft intelligent motion control method according to claim 1, it is characterised in that: the step S4
In, measuring and calculating instruction, which is issued to aircraft, completes response time tB, then by initial position (x0, y0, z0) be newly defined as
4. a kind of marshalling aircraft intelligent motion control method according to claim 1, it is characterised in that: if the step
In S4, solved in formula (1)-(4)Maneuvering range beyond aircraft, then with initial position (x0, y0, z0) and target
Position (x1, y1, z1) it is that round edge point carries out making to justify, it is denoted as round O, aircraft flies along the circular arc to predetermined angular.
5. a kind of marshalling aircraft intelligent motion control method according to claim 4, it is characterised in that: the machine of aircraft
Turn is to maximum steering forceCircle O withTangent, aircraft flies along the circular arc of circle O to predetermined angular.
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| US7418343B1 (en) * | 2004-05-19 | 2008-08-26 | Rockwell Collins, Inc. | Relative navigation for precision rendezvous and station keeping using datalink signals |
| CN104216382A (en) * | 2014-09-19 | 2014-12-17 | 北京航天长征飞行器研究所 | Spatial small aircraft formation flying control system |
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