CN107102565A - Unmanned plane clustered software assemblage on-orbit system - Google Patents
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Abstract
The invention belongs to multi-agent system technical field, specially a kind of unmanned plane clustered software assemblage on-orbit system.The system includes several automatic pilots, communication simulation module and Flight Simulator；It is in communication with each other, is communicated between automatic pilot and Flight Simulator by network communication protocol by communication simulation module between automatic pilot；Communication simulation module can set communication delay, packet loss and communication radius, for simulating the communication network of unmanned plane cluster；Flight Simulator includes some dummy vehicles and pneumatic interference simulation module, and aerodynamic interference emulation module is used for emulating the air-flow of wing or propeller generation to closing on the aerodynamic interference that unmanned plane is produced.The present invention carries out emulation testing using software assemblage on-orbit technology to unmanned plane cluster control system, reduces experimental cost and risk, improves development efficiency, and communication topology and aerodynamic interference are modeled as much as possible, improves accuracy of simulation.
Description
Technical field
The invention belongs to multi-agent system technical field, and in particular to unmanned plane clustered software assemblage on-orbit system.
Background technology
Unmanned air vehicle technique is a hot spot technology, and extensive concern is all received in business and scientific research field, and in the past
Great achievement is achieved during the decade.At present, unmanned plane Clustering is placed high hopes extensively, it is considered to be the one of unmanned air vehicle technique
Individual important development direction.Interconnected, exchanged information by certain communication link between aircraft in unmanned plane cluster, Ke Yishi
Existing information sharing, distributed determination, formation flight, the group intelligence such as task cooperation produces " 1+1>2 " effect.
Unmanned plane cluster is significant in Military Application field.At present, generally every frame unmanned plane needs an operation
Member.Using ripe unmanned plane Clustering, an operator can control whole cluster, realize formation flight.Also, operation
After member assigns a task, unmanned plane cluster can carry out task distribution automatically, improve fighting efficiency.
The research of unmanned plane needs to carry out substantial amounts of real machine experiment.Unmanned plane cost is high, and mobility is strong, therefore experiment
Cost it is larger, histological examination is time-consuming.Researcher is usually using software assemblage on-orbit and hardware-in-the-loop emulation to unmanned plane
Control algolithm and related software tested, real machine experiment before just can be with the performance of access control algorithm and related software
And reliability.
Patent document CN104880961A discloses a kind of hardware of multiple no-manned plane distributed collaboration in loop real-time simulation
Experimental system, its main technical schemes are by link simulations computer link n platforms automatic pilot and n unmanned plane simulation meter
Calculation machine, realizes the emulation of multiple no-manned plane control algolithm, but the shortcoming of this method is automatic pilot access link simulation meter
Calculation machine bandwidth is limited, and emulation real-time and emulation quantity are restricted.
Software assemblage on-orbit accesses controller of aircraft software the dummy vehicle of emulation.With hardware-in-loop simulation phase
Than software assemblage on-orbit is easier to realize the emulation of a large amount of unmanned planes.However, Current software assemblage on-orbit system lacks to multimachine
Between communication topology and aerodynamic interference simulation model, influence simulation Credibility.Meanwhile, complete multiple no-manned plane is lacked at present
Analogue system, is configured to multiple no-manned plane software emulation, monitoring, and management.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane clustered software assemblage on-orbit system, so as to multiple no-manned plane
Software emulation is configured, monitored and managed.
The unmanned plane clustered software assemblage on-orbit system that the present invention is provided, mainly solves following technology of the prior art and asks
Topic：The modeling of multiple no-manned plane communication topology；The modeling of multiple no-manned plane aerodynamic interference；Analogue system structure of the multiple no-manned plane software in ring
Build.
The unmanned plane clustered software assemblage on-orbit system that the present invention is provided, includes several automatic pilots, communication simulation
It is in communication with each other between module, and Flight Simulator, automatic pilot by communication simulation module, automatic pilot and aircraft
Communicated between simulator by network communication protocol.
The automatic pilot, comprising navigation module and controller, navigation module expects flight according to experiment flow generation
Track, is used as the input of controller；Controller module realizes position and the gesture stability of unmanned plane by feedback control.
The navigation module can be connected by udp protocol with controller, obtain current location, speed and acceleration, simultaneously
It is connected by udp protocol with communication simulation module, obtains position and the speed of neighbours.Based on these information, navigation module operation
Algorithm calculates desired locations and desired speed and is sent to controller as controlled quentity controlled variable.
The navigation module can adoption status machine formula program structure, as shown in Figure 3.Each state in the state machine is performed
In particular task, experimentation experiment content is configured by combining different tasks.State machine original state is idle condition,
Without any task in the state.After task starts, sequence state machine performs a series of tasks, including：Unlocking motor, rise
Fly, perform swarm algorithm, landing, lock out motor.After the completion of a task, next state is just switched into.Whole tasks
After the completion of, return to idle condition.If occurring anomalous event in task process, such as battery electric quantity is low, positioning signal is lost etc.,
Then it is switched to the state of emergency.
The navigation module realizes the task, and each task is all based on certain method generation desired locations and desired speed
It is sent to controller.
The adoptable tandem PD control device of controller, including positioner and attitude controller.
The communication simulation module, can set communication delay, packet loss and communication radius, for simulating unmanned plane cluster
Communication network.The communication simulation module is used for simulating the communication topology of unmanned plane cluster, and concrete function is：
(1) analogue communication radius.When forwarding message, recipient is first determined whether whether within communication radius, if it is
Forwarding, is otherwise abandoned；
(2) packet loss is simulated.An effective packet loss can be specified, every message for forwarding enters row stochastic lose
Bag；
(3) analogue communication is delayed.For every message Jing Guo communication simulation module, application time length meets Gauss point
The delay of cloth.The average value and standard deviation of Gaussian Profile can be specified.
The Flight Simulator, including some dummy vehicles and pneumatic interference simulation module, wherein dummy vehicle
For the motion process of simulated flight device, and aerodynamic interference emulation module is used for emulating the air-flow of wing or propeller generation to facing
The aerodynamic interference that nearly unmanned plane is produced.
The present invention has the advantages that：
The present invention is emulated using communication simulation module to the communication topology of unmanned plane cluster, by communication delay, is led to
Believe radius and packet loss, simulate the effect of unmanned plane swarm algorithm under the conditions of different communication.
The present invention is modeled and emulated to closing on the aerodynamic interference between unmanned plane in Flight Simulator, improves imitative
Genuine authenticity.
The unmanned plane clustered software assemblage on-orbit system that the present invention is built, should compared with pure software emulation and numerical simulation
System is emulated using automatic pilot, and simulation result is more nearly actual conditions, and the automatic pilot can be direct
Practical flight device is transplanted to use.Compared with hardware-in-loop simulation, the system need not connect flight controller hardware, using more
It is easy, it is easier to which that the cluster that a large amount of aircraft are constituted is emulated.
Brief description of the drawings
Fig. 1 is the unmanned plane clustered software assemblage on-orbit system construction drawing described in embodiment.
Fig. 2 is the unmanned aerial vehicle (UAV) control device structure described in embodiment.
Fig. 3 is the Navigation of Pilotless Aircraft modular structure described in embodiment.
Fig. 4 is the aerodynamic interference emulation module diagram described in embodiment.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Unmanned plane clustered software assemblage on-orbit system described in the present embodiment, its structure is as shown in Figure 1.It is automatic including 4
Pilot 101~104, numbering is A, B, C, D.Automatic pilot 101~104 includes navigation module 105~108 and controller
109~112.Wherein, controller 109~112 is designated as r to the feedback position of navigation module 105~108, speed and acceleration,Navigation module 105~108 sends desired locations and desired speed to controller 109~112, is designated as rdes,Automatically drive
Instrument 101~104 is sailed by udp protocol with communication simulation module 100 to be connected.The rotor model 114~117 of four frame four operates in flight
In device simulator 113, numbering is a, b, c, d.Four automatic pilots 101~104, the four rotor moulds corresponding with numbering letter
Type 114~117 by udp protocol be connected, wherein, 101 are connected with 114, and 104 are connected with 115, and 107 are connected with 116,110 and
117 are connected.
The Flight Simulator is realized using the robot simulation software Gazebo that increases income.There are Gazebo a variety of physics to imitate
True engine, can carry out real-time simulation to aerodynamics, dynamics of rigid bodies.And the software has outstanding three-dimensional rendering effect
Really, can be with real-time exhibition experimental result.Gazebo can enter to multiple sensors such as accelerometer, gyroscope, GPS, video cameras
Row emulation.User can add self-definition model, and interactive by the API and model increased income.This example uses four rotor models 114
~117 pairs of unmanned plane swarm algorithms are verified.
Four rotor model 114~117 uses 3DR iris models.Involved parameter include quality, rotary inertia,
Constant of the machine, motor shaft is away from motor resistance coefficient, maximum (top) speed, UDP COM1s.
The kinetic model of four rotor model 114~117 is as follows.u1It is first input quantity of system, FiFor spiral
Oar i thrust：
Newton's equation of motion is：
Wherein, m is quality, and g is acceleration of gravity,For linear acceleration, TΘTo be tied to body coordinate system from fixed coordinates
Spin matrix.Can obtain angular acceleration equation by Eulerian equation is：
Wherein, p, q, r are roll angular speed, tilt angular speed and yaw rate,For roll angular acceleration, incline
Oblique angle acceleration and driftage angular acceleration, I is moment of inertia matrix, MiThe angular momentum produced for propeller i, L is adjoining spiral
The distance of oar axle.Second input u of system2For：
Wherein, γ is coefficient.
The Flight Simulator 113 using the aerodynamic interference emulation module 118 developed of the present invention calculate unmanned plane it
Between aerodynamic interference.When the rotor model unmanned plane of two frame four is close to each other, the trailing vortex air-flow that rotor is produced blows to other side's fuselage,
Produce thrust.Assume in this example that unmanned aerial vehicle body is a cylinder, aerodynamic interference is as shown in Figure 4.Fig. 4 illustrates the one of unmanned plane
Aerodynamic interference between the fuselage of individual propeller and another frame unmanned plane, for convenience of description, this two framves unmanned plane numbering is 1,2.
The air-flow trailing vortex that wherein the propeller oar disk 129 of unmanned plane 1 is produced is in contact with the fuselage 130 of unmanned plane 2, because aerodynamic interference is to nobody
The pressure that the fuselage of machine 2 is produced is as follows：
Wherein, vi(d) for apart from oar PandChu induced velocity, vi(0) induced velocity for being oar Pan Chu, R is propeller half
Footpath, R (0) is oar disk radius at oar disk, and R (d) is the oar disk radius at oar disk d, and χ is the departure angle of trailing vortex air-flow, μ||To enter
Enter component of the propeller oar disk air velocity along oar disk parallel direction, ω⊥Hung down to enter propeller oar disk air velocity along oar disk
Nogata to component, ρ is atmospheric density, and ξ is resistance coefficient, and A ' is the fuselage sections area that trailing vortex is covered.
The automatic pilot 101~104 includes navigation module 105~108 and controller 109~112.
The controller 109~112 is communicated by udp protocol with four corresponding rotor models 114~117, and it is controlled
Model is as shown in Figure 2.The tandem PD control device that the controller 109~112 is used includes positioner 119 and gesture stability
Device 120.To carry out position and gesture stability to four rotor models 114~117 using tandem PD control device, dummy vehicle is existed
The linear expansion nearby of hovering operating point.When therefore the controller is only applicable to quadrotor in small inclination state of flight
Control.Control rate used in controller 109~112 is as follows.
Wherein, kr,p,kr,d,kp,φ,kp,θ,kp,ψ,kd,φ,kd,θ,kd,ψFor coefficient, φ, θ, ψ is roll angle, inclination angle and partially
Boat angle, φdes,θdes,ψdesTo expect roll angle, expect inclination angle and expect yaw angle, pdes,qdes,rdesTo expect roll angle
Speed, expects to tilt angular speed, expects yaw rate, r,For position, speed and acceleration, rdes,For desired locations
And desired speed.Aircraft 121 receives input u1,u2, and by feedback of status to positioner 119 and attitude controller 120.
The navigation module 105~108 is connected by udp protocol with controller 109~112, obtains current location, speed
And acceleration, while being connected by udp protocol with communication simulation module 100, obtain position and the speed of neighbours.Based on these letters
Breath, the operation algorithm of navigation module 105~108 calculates desired locations and desired speed and is sent to controller 109 as controlled quentity controlled variable
~112.
The adoption status machine formula program structure of navigation module 105~108, as shown in Figure 3.Each shape in the state machine
State performs in particular task, experimentation and configures experiment content by combining different tasks.State machine original state is sky
Not busy state 122, without any task in the state.After task starts, sequence state machine performs a series of tasks, including solution
Motor 123 is locked, take off 124, execution swarm algorithm 125, landing 126, lock out motor 127.After the completion of a task, just switch
Into next state.After the completion of whole tasks, idle condition 122 is returned to.If occurring anomalous event in task process, such as
Battery electric quantity is low, positioning signal is lost etc., then is switched to the state of emergency 128.
The navigation module 105~108 realizes following task, including unlocking motor 123, and lock out motor 127 is taken off
124, land 126 and swarm algorithm 125.Each task is all based on certain method generation desired locations and desired speed is sent to control
Device 109~112 processed.
The unlocking motor task 123 propeller is set to it is idle, release in this case to motor operate
Locking.
The flow of task 124 of taking off is as follows：Automatic pilot 101~104 records the height above sea level of takeoff point, and this is high
Degree plus object height are used as target flight height.By the x of current takeoff point, y-coordinate and target flight highly constitute desired locations,
It is sent to controller 109~112.The control dummy vehicle of controller 109~112 takes off and flown to specified altitude assignment.
The flow of swarm algorithm 125 is as follows：In the task, navigation module 105~108 receives the position of neighbours' unmanned plane
Put and velocity information, computing is carried out in the algorithm, desired locations and desired speed are obtained.Then controller 109~112 is controlled,
Reach and kept in balance distance and the consistent purpose of speed with neighbor node.The swarm algorithm is to article
Decentralized Flocking Protocol of Multi-agent Systems with Predictive
Mechanisms realization.
The flow of landing task 126 is as follows：Desired speed is set to uniform descent, dummy vehicle drop is being detected
The task is completed behind landing face.
The affiliated flow of lock out motor 127 is as follows：Stop motor rotating, and lock the control to motor.
The communication simulation module 100 is used for simulating the communication topology of unmanned plane cluster, including following function：
(1) analogue communication radius.When forwarding message, recipient is first determined whether whether within communication radius, if it is
Forwarding, is otherwise abandoned；
(2) packet loss is simulated.An effective packet loss can be specified, every message for forwarding enters row stochastic lose
Bag；
(3) analogue communication is delayed.For every message by communication simulation module 100, application time length meets height
The delay of this distribution.The average value and standard deviation of Gaussian Profile can be specified.
Integrate (1), (2), (3) three points, communication simulation module 100 is operationally to every by communication simulation module 100
Message cached and handled, finally forward the message to corresponding recipient.It is this can configure by way of it is flexible
Emulation multi-computer communication different situations under unmanned plane swarm algorithm effect.
The step of unmanned plane cluster is tested is as follows：
(1) configuration dummy vehicle quantity is 4, is the communication configuration udp port between each module.Aircraft mould is set
The initial position of type is coordinate points (0,0,0), (0,10,0), (0,20,0), (0,30,0).Start Flight Simulator 113；
(2) flight script is write for each navigation module 105~108, the script specifies the experiment flow of dummy vehicle.
In this experiment, each dummy vehicle is risen and flies to the aerial of 10m height, then runs swarm algorithm, and operation is dropped after 1 minute
Fall；
(3) the swarm algorithm assignment algorithm parameter used for navigation module 105~108, the parameter used in this example is：
Balanced distance is 5.0, and prediction step is 3, and it is 2 to control step-length, and the cycle is 0.1s, and maximal rate is 3.0m/s；
(4) 4 automatic pilots are started, experiment flow is initialized as above-mentioned flow by automatic pilot 101~104.And
And be connected with corresponding dummy vehicle by UDP interfaces.After connection is set up, automatic pilot 101~104 receives flight
The quantity of states such as position, the speed that device model is sent, dummy vehicle is sent to by controlled quentity controlled variable；
(5) configuration communication simulation module 100, setting communication radius is 20m, communication delay is 100ms and packet loss is
0.1；Start communication simulation module 100 and set up UDP with 4 automatic pilots 101~104 and be connected, communication module is received and delayed
Deposit the information such as position, the speed of 4 dummy vehicles.According to the parameters such as communication delay, communication radius and packet loss, communication simulation
The information computation delay that 100 pairs of module is received, and random loss, information are broadcast to the automatic Pilot in communication radius
Instrument；
(6) navigation module 105~108 started in experimental duties, automatic pilot 101~104 enters in status list
First state, unlocking motor 123；
(7) after the success of unlocking motor 123, into the task of taking off 124.This object height is 10 meters；
(8) task of taking off 124 is completed, and is switched to next task, i.e. swarm algorithm 125.Can with continuous observation to nobody
Machine is progressive to reach consistent process, and the operation of swarm algorithm 125 is completed；
(9) unmanned plane enters landing 26, and navigation module 105~108 controls desired speed to be (0,0, -0.5), jump area
Face；
(10) last unmanned plane lock out motor 127.
Claims (7)
1. a kind of unmanned plane clustered software assemblage on-orbit system, it is characterised in that comprising several automatic pilots, communication is imitative
True module, and Flight Simulator；It is in communication with each other between automatic pilot by communication simulation module, automatic pilot and flight
Communicated between device simulator by network communication protocol.
2. unmanned plane clustered software assemblage on-orbit system as claimed in claim 1, it is characterised in that the automatic pilot,
Comprising navigation module and controller, navigation module expects flight path according to experiment flow generation, is used as the input of controller；Control
Device module processed realizes position and the gesture stability of unmanned plane by feedback control.
3. unmanned plane clustered software assemblage on-orbit system as claimed in claim 2, it is characterised in that the navigation module passes through
Udp protocol is connected with controller, current location, speed and acceleration is obtained, while passing through udp protocol and communication simulation module phase
Even, position and the speed of neighbours is obtained；Based on these information, navigation module operation algorithm calculates desired locations and desired speed simultaneously
Controller is sent to as controlled quentity controlled variable.
4. unmanned plane clustered software assemblage on-orbit system as claimed in claim 2, it is characterised in that the navigation module is used
Each state in state machine formula program structure, the state machine is performed in particular task, experimentation by combining different appoint
It is engaged in configuring experiment content；State machine original state is idle condition, without any task in the state；Task starts
Afterwards, sequence state machine performs a series of tasks, including：Unlocking motor, take off, perform swarm algorithm, landing, lock out motor；When
After the completion of one task, next state is just switched into；After the completion of whole tasks, idle condition is returned to；If task process
In there is anomalous event, then be switched to the state of emergency.
5. unmanned plane clustered software assemblage on-orbit system as claimed in claim 1, it is characterised in that the communication simulation mould
Block, can set communication delay, packet loss and communication radius, for simulating the communication network of unmanned plane cluster.
6. unmanned plane clustered software assemblage on-orbit system as claimed in claim 1, it is characterised in that the communication simulation module
Concrete function is：
（1）Analogue communication radius, that is, when forwarding message, first determine whether that recipient whether within communication radius, if it is turns
Hair, is otherwise abandoned；
（2）Packet loss is simulated, that is, specifies an effective packet loss, every message for forwarding enters row stochastic packet loss；
（3）Analogue communication is delayed, i.e., for every message Jing Guo communication simulation module, application time length meets Gaussian Profile
Delay.
7. unmanned plane clustered software assemblage on-orbit system as claimed in claim 1, it is characterised in that the aircraft simulation
Device, including some dummy vehicles and pneumatic interference simulation module, wherein dummy vehicle are used for being moved through for simulated flight device
Journey, and aerodynamic interference emulation module is used for emulating the air-flow of wing or propeller generation to closing on the pneumatic dry of unmanned plane generation
Disturb.
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| CN108132667A (en) * | 2017-11-21 | 2018-06-08 | 北京特种机械研究所 | A kind of AGV navigation state machines |
| CN109188933A (en) * | 2018-09-21 | 2019-01-11 | 北京大翔航空科技有限公司 | A kind of cluster unmanned plane distributed hardware is in loop simulation system |
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| CN113885353A (en) * | 2021-09-29 | 2022-01-04 | 北京大翔航空科技有限公司 | Hardware-in-loop simulation system for distributed intelligent unmanned aerial vehicle cluster countermeasure |
| CN113885353B (en) * | 2021-09-29 | 2024-01-30 | 北京大翔航空科技有限公司 | Hardware-in-loop simulation system for cluster countermeasure of distributed intelligent unmanned aerial vehicle |
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