CN109669473B - Intelligent motion control method for marshalling aircraft - Google Patents
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Abstract
The invention discloses an intelligent motion control method for marshalling aircrafts, wherein a plurality of groups of aircrafts are numbered as a set {1,2, 3- · · N }; real-time position P of aircraft numbered NN(t) is (x, y, z), and the real-time speed is obtained
Selecting a single aircraft in the aircraft group as a control aircraft, sending a command control signal to the other slave aircraft by the master control aircraft, positioning, and enabling the master control aircraft to work tAAfter the time, the control function and the positioning function are transferred to other aircrafts which do not play the role of the main control function, the control instruction signal content is solved through the constraint condition, and if the control instruction signal content is solved in the formulas (1) to (4)
Beyond the maneuvering range of the aircraft, the initial position (x)0,y0,z0) And target position (x)1,y1,z1) Making a circle for the edge point of the circle, marking as the circle O, and the maximum steering force of the maneuvering steering of the aircraft is
The circle O is equal to
Tangency, the aircraft flies to a predetermined angle along the arc of the circle O; in the implementation of the invention, the operation of flying to the designated position can be completed through one-time positioning and operation without negative feedback regulation.
Description
Technical Field
The invention relates to the field of intelligent control of aircrafts, in particular to an intelligent motion control method for marshalling aircrafts.
Background
In recent years, multi-machine cooperative work marshalling and control of unmanned aerial vehicles have received international attention. The multi-machine cooperative operation marshalling and control means that a plurality of unmanned aerial vehicles are controlled to marshal and fly according to a certain control mode, in order to meet the task requirement, any array type is generated, changed and maintained, wherein the path planning and organization of the flight task are included, and the multi-machine cooperative operation marshalling and control method has the advantages of wide investigation range, wide search range, capability of simultaneously executing multiple tasks, power reduction and the like. The multi-machine cooperative operation grouping and control of the unmanned aerial vehicle is an important trend of future unmanned aerial vehicle flight technology development. The foreign organization and control of multi-machine cooperative operation have been studied at a high level, and are making efforts toward industrial mass production. Compared with foreign countries, the method stays at the initial research stage at home, and has great development space and research requirements for the research of the multi-machine cooperative flight control and marshalling method. The research of multi-machine cooperative operation grouping and control relates to different fields of thermodynamics, bionics, automatic control and the like, and the research need to be carried out across the fields.
The research on the multi-machine cooperative operation grouping and control relates to the intersection of multiple subjects and technical fields such as aerodynamic force, sensors, electronics, computers, control, communication, artificial intelligence and the like, so the research on the multi-machine cooperative operation grouping and control method of the unmanned aerial vehicle is very complex. Unmanned aerial vehicle researchers in different countries have good research results in the field of multi-machine cooperative operation marshalling and control, but the development applied to actual multi-machine cooperative operation marshalling and control is few, and a huge research and development space is provided.
The multi-machine cooperative operation control is the research content for developing the unmanned aerial vehicle with comparatively hot fire in recent years, and mainly researches how to realize the multi-machine cooperative control and complete aerial operation. Researchers in various countries have more researches on the multi-machine cooperative theory, and due to the fact that the related fields are more, the difficulty degree is higher, the multi-machine cooperative operation control system is applied to the actual development of the index number, and has a wide development prospect.
Patent No. CN106708090A discloses an unmanned aerial vehicle cluster system, which is characterized by comprising: at least one drone swarm, each drone swarm of the at least one drone swarm including: the system comprises a master control unmanned aerial vehicle and M slave control unmanned aerial vehicles, wherein the master control unmanned aerial vehicle is in communication connection with the M slave control unmanned aerial vehicles, and M is an integer greater than or equal to 1; the master unmanned aerial vehicle is used for sending N control instructions to a first slave unmanned aerial vehicle in the M slave unmanned aerial vehicles, wherein N is an integer greater than or equal to 1; the first slave control unmanned aerial vehicle is used for receiving and executing the N control instructions, acquiring collected data and transmitting the collected data to the master control unmanned aerial vehicle.
However, in the above method, feedback adjustment is still required for many times, which wastes computational power of an onboard computer and reduces endurance.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide an intelligent motion control method for a marshalling aircraft, which improves the control effect of the marshalling aircraft and does not need multiple feedback adjustments.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
an intelligent motion control method for a marshalling aircraft, comprising the steps of:
step S1, numbering the single aircrafts, wherein the numbers of the aircrafts in a plurality of groups are set {1,2,3 … N };
step S2, numbering N real-time position P of aircraftN(t) is (x, y, z), and the real-time speed is obtained
Step S3, selecting a master control aircraft, receiving a control signal and controlling the whole flying marshalling;
step S4, from (x)0，y0，z0) Is shifted to (x)1，y1，z1) Is arranged as
In (x)0,y0,z0) The velocity of the position is
After the command is sent, the thrust of the aircraft is adjusted to
Satisfies the following constraint conditions
According to the formulas (1) to (4), the solution is obtained
Namely the content of the control instruction signal;
wherein t1 represents the time from (x0, y0, z0) shift to (x1, y1, z1), and α represents
The included angle of the two vectors; beta represents
The angle between the two vectors, m, is a constant.
Further, the step S3 specifically includes,
s3.1, selecting a single aircraft in the aircraft group as a control aircraft, sending the command control signal to the other slave aircraft by the master control aircraft, positioning,
step S3.2, master control aircraft work tAAfter the time, the control function and the positioning function are transferred to other aircrafts which do not play the role of the main control function,
and step S3.3, circulating the main control function transfer in the step S3.2.
Further, in the step S4, the measurement finger is usedOrder to send to aircraft completion response time tBThen the initial position (x)0,y0，z0) Redefined as
Further, in step S4, equations (1) to (4) are solved
Beyond the maneuvering range of the aircraft, the initial position (x)0，y0，z0) And target position (x)1，y1，z1) And (4) making a circle for the edge point of the circle, marking as a circle O, and enabling the aircraft to fly to a preset angle along the circular arc.
Further, the maximum steering force for maneuvering of the aircraft is
The circle O is equal to
Tangent, the aircraft flies to a predetermined angle along the arc of circle O.
The benefit effects of the invention are:
the operation of flying to the designated position can be completed through one-time positioning and operation without negative feedback regulation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for intelligent motion control of a consist aircraft according to the present invention;
FIG. 2 is a schematic illustration of controlling a flight path;
FIG. 3 is a schematic view of a flight path outside the maneuver region of an aircraft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-3, the present invention is:
an intelligent motion control method for a marshalling aircraft, comprising the steps of:
step S1, numbering the single aircrafts, wherein the number of the aircrafts is a set {1,2, 3- · · N };
step S2, numbering N real-time position P of aircraftN(t) is (x, y, z), and the real-time speed is obtained
Step S3, selecting a master control aircraft, receiving a control signal and controlling the whole flying marshalling;
step S4, from (x)0，y0，z0) Is shifted to (x)1,y1，z1) Is arranged as
In (x)0，y0,z0) The velocity of the position is
After the command is sent, the thrust of the aircraft is adjusted to
Satisfies the following constraint conditions
According to the formulas (1) to (4), the solution is obtained
Namely the content of the control instruction signal;
wherein t1 represents the time from (x0, y0, z0) shift to (x1, y1, z1), and α represents
The included angle of the two vectors; beta represents
The angle between the two vectors, m, is a constant.
Further, the step S3 specifically includes,
s3.1, selecting a single aircraft in the aircraft group as a control aircraft, sending the command control signal to the other slave aircraft by the master control aircraft, positioning,
step S3.2, master control aircraft work tAAfter the time, the control function and the positioning function are transferred to other aircrafts which do not play the role of the main control function,
and step S3.3, circulating the main control function transfer in the step S3.2.
Further, in the step S4, the response time t from the command to the aircraft completion is measuredBThen the initial position (x)0,y0，z0) Redefined as
Further, in step S4, equations (1) to (4) are solved
Beyond the maneuvering range of the aircraft, the initial position (x)0，y0，z0) And target position (x)1，y1，z1) And (4) making a circle for the edge point of the circle, marking as a circle O, and enabling the aircraft to fly to a preset angle along the circular arc.
Further, the maximum steering force for maneuvering of the aircraft is
The circle O is equal to
Tangent, the aircraft flies to a predetermined angle along the arc of circle O.
One specific application of this embodiment is:
numbering single aircrafts, wherein the numbers of a plurality of groups of aircrafts are set {1,2,3 · · N };
real-time position P of aircraft numbered NN(t) is (x, y, z), and the real-time speed is obtained
Selecting a single aircraft in the aircraft group as a control aircraft, sending a command control signal to the other slave aircraft by the master control aircraft, positioning, and enabling the master control aircraft to work tAAfter the time, transferring the control function and the positioning function to other aircrafts which do not play the role of the main control function, and circularly transferring the main control function;
measuring and calculating response time t from command sending to aircraft completionBThen the initial position (x)0，y0，z0) Redefined as
From (x)0，y0,z0) Is shifted to (x)1，y1,z1) Is arranged as
In (x)0，y0，z0) The velocity of the position is
After the command is sent, the thrust of the aircraft is adjusted to
Satisfies the following constraint conditions
According to the formulas (1) to (4), the solution is obtained
Namely the content of the control instruction signal;
wherein t1 represents the time from (x0, y0, z0) shift to (x1, y1, z1), and α representsDisplay device
The included angle of the two vectors; beta represents
The angle between the two vectors, m, is a constant.
If the formula (1) to (4) is solved
Beyond the maneuvering range of the aircraft, the initial position (x)0,y0,z0) And target position (x)1，y1,z1) Making a circle for the edge point of the circle, marking as the circle O, and the maximum steering force of the maneuvering steering of the aircraft is
The circle O is equal to
Tangent, the aircraft flies to a predetermined angle along the arc of circle O.
In the operation, compared with the traditional mode, the operation of flying to the designated position can be completed through one-time positioning and operation without negative feedback regulation.
In the description herein, references to the terms "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. An intelligent motion control method for a marshalling aircraft is characterized in that: the method comprises the following steps:
step S1, numbering the single aircrafts, wherein the number of the aircrafts is a set {1,2, 3- · · N };
step S2, numbering N real-time position P of aircraftN(t) is (x, y, z), and the real-time speed is obtained
Step S3, selecting a master control aircraft, receiving a control signal and controlling the whole flying marshalling;
step S4, from (x)0,y0，z0) Is shifted to (x)1，y1，z1) Is arranged as
In (x)0，y0，z0) The velocity of the position is
After the command is sent, the thrust of the aircraft is adjusted to
Satisfies the following constraint conditions
According to the formulas (1) to (4), the solution is obtained
Namely the content of the control instruction signal;
wherein, t1Represents from (x)0，y0，z0) Is shifted to (x)1，y1，z1) Time of (a) represents
The included angle of the two vectors; beta represents
The angle between the two vectors, m, is a constant.
2. The consist aircraft motion control method of claim 1, wherein: the step S3 specifically includes the steps of,
s3.1, selecting a single aircraft in the aircraft group as a control aircraft, sending the command control signal to the other slave aircraft by the master control aircraft, positioning,
step S3.2, master control aircraft work tAAfter the time, the control function and the positioning function are transferred to other aircrafts which do not play the role of the main control function,
and step S3.3, circulating the main control function transfer in the step S3.2.
3. The intelligent motion control method for a marshalling aircraft of claim 1, wherein: in the step S4, the response time t from the command to the completion of the aircraft is measuredBThen the initial position (x)0,y0，z0) Redefined as
4. The intelligent motion control method for a marshalling aircraft of claim 1, wherein: if the formula (1) - (4) is solved in the step S4
Beyond the maneuvering range of the aircraft, the initial position (x)0，y0，z0) And target position (x)1，y1，z1) And (4) making a circle for the edge point of the circle, marking as the circle O, and enabling the aircraft to fly to a preset angle along the circular arc of the circle O.
5. The intelligent motion control method for a marshalling aircraft of claim 4, wherein: the maximum steering force of the aircraft for maneuvering is
The circle O is equal to
Tangent, the aircraft flies to a predetermined angle along the arc of circle O.
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| US10017271B2 (en) * | 2016-03-18 | 2018-07-10 | Sunlight Photonics Inc. | Methods of three dimensional (3D) airflow sensing and analysis |
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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 |
| CN104571131A (en) * | 2015-01-20 | 2015-04-29 | 西安电子科技大学宁波信息技术研究院 | Unmanned aerial vehicle formation distributed collaboration system and anti-interference method thereof |
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