CN108319296A - Formation control method integrating global information and local information - Google Patents
Formation control method integrating global information and local information Download PDFInfo
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- 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
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Abstract
A formation control method fusing global information and local information is characterized in that in the formation control process of aircrafts, firstly, flight path planning is carried out on a long aircraft in a ground control system, and flight parameters such as an expected flight path, an expected speed and the like of the long aircraft are determined; in the actual flight process, calculating a track guide point of a leader according to the real-time state and the global expected track of the leader, and calculating a track guide point of a bureau according to formation parameters; calculating the local formation error between the fans and the bureaucratic machines in real time under the local coordinate system of the fans; in the process of airplane control, a main control instruction is calculated according to a flight path guide point, a secondary correction instruction is calculated according to a local formation error, the two instructions are added to obtain an actual control instruction of the aircraft, and formation flight control is carried out. The invention can effectively improve the fast convergence of formation control, the accuracy of the control process and the safety of compact formation flight on the basis of ensuring that the formation realizes the global track tracking, thereby effectively finishing the task of formation flight.
Description
Technical field
The invention belongs to flying vehicles control technical fields, and in particular to a kind of formation of amalgamation of global information and local message
Control method.
Background technology
In existing aircraft formation control method, generally use is a kind of control method of " leader-wing plane " pattern.Control
During system, leader mainly tracks global desired track, and wing plane is mainly controlled according to formation geometric parameter.At this
Under kind pattern, although a variety of flight patterns can be realized relatively easily, it is directed to different aircraft and flight pattern, control
The adjusting of parameter is difficult.Simultaneously because using a kind of formation control method based on error feedback, the process of control
Often there is certain hysteresis quality, it is difficult to which the effect of formation control is effectively ensured, and (control of especially aircraft exists certain
Deviation and uncertain situation), in some instances it may even be possible to there is the danger collided.
Invention content
For the existing defect of the control of aircraft formation in the prior art, the present invention proposes a kind of amalgamation of global information
With the formation control method of local message.
The present invention is during control, according to the pilot point of global desired track calculating aircraft, using but be not limited to
A kind of nonlinear Guidance and control method carries out the calculating of main control instruction.Calculate the error of formation control, root in real time simultaneously
According to the secondary Correction and Control instruction of error calculation.Two control instructions are added, and are carried out actual flight control, are improved formation control
Effect.By the effective integration of global information and local message, the requirement to formation control parameter is reduced, while improving formation
The effect of control.
A kind of formation control method of amalgamation of global information and local message, using a kind of " leader-wing plane " pattern
Control method, the process of control is using global desired track as main information.It is as follows：
S1. according to the real time position P of leaderl(xl,yl), the letters such as preset length of lead L and global desired track F
Breath, resolves the flight path pilot point P of leadergl(xgl,ygl).On this basis according to the requirement of formation structure parameters, wing plane is resolved
Flight path pilot point.
S2 is with the real time position P of leaderl(xl,yl) it is origin, with the direction θ of leaderlFor YbAxis direction establishes the office of leader
Portion coordinate system XbObYb.In order to improve the effect of formation control, in the local coordinate system X of leaderbObYbIn, in real time calculate leader and
Local formation error (dx, dy) between wing plane.
During S3 aircraft formations are flown, guided according to the respective flight path of every frame aircraft (including leader, wing plane)
Point calculates main control instruction, and secondary revision directive is calculated according to local formation error (dx, dy), and two instructions are added,
Obtain the lateral control instruction a of practical control instruction i.e. aircraft of aircrafts' and aircraft desired speed Ve, form into columns flies
Row control.
In the present invention, the implementation method of S1 is as follows：
S1.1 carries out trajectory planning in ground control system to leader, gives the global desired track F of fixed length machine.
S1.2 is according to the real time position P of leaderl(xl,yl), preset length of lead L and global desired track F, meter
Calculate the flight path pilot point P of leadergl(xgl,ygl)。
S1.3 is according to the position P of the flight path pilot point of leadergl(xgl,ygl) and flight path pilot point direction θgl, in conjunction with advance
The formation structure parameters (Formation_, x Formatio_n) of setting, y resolve the flight path pilot point P of wing planegf(xgf,ygf)。
Wherein, the direction θ of flight path pilot pointglIt is global desired track F in point Pgl(xgl,ygl) at tangential direction, Formation_x
Expectation lateral distance for wing plane with respect to leader, Formation_y are expectation fore-and-aft distance of the wing plane with respect to leader.
In the present invention, the implementation method of S2 is as follows：
S2.1 is by wing plane real time position Pf(xf,yf) project to real time position P with leaderl(xl,yl) it is origin, leader
Direction θlFor YbThe local coordinate system X of axis directionbObYbIn, obtain local coordinate (local_x, local_y).Wherein, local_x
Practical lateral distance for wing plane with respect to leader, local_y are practical fore-and-aft distance of the wing plane with respect to leader.
S2.2 calculates actual positional relationship (local_x, local_y) and formation structure parameters between leader-wing plane
The local formation error (dx, dy) of (Formation_x, Formation_y).Wherein, dx is desired lateral distance and practical side
To the deviation of distance, dy is the deviation of desired fore-and-aft distance and practical fore-and-aft distance.
In the present invention, the implementation method of S3 is as follows：
S3.1 according to every frame aircraft (including leader, wing plane) respective flight path pilot point, using but be not limited to one kind
Nonlinear Track In Track method (can also use pure tracking and the Track In Track method based on the angle of sight) is laterally controlled
Instruct asCalculating, secondary revision directive da is calculated according to lateral formation error dx, two instructions are added, and obtain actual side
To control instruction as', realize the lateral control of aircraft；Wherein PID is widely used (proportional-integral-
Derivative, proportional-integral-differential) control method, contain tri- control parameters of P, I, D.Here, the present invention use than
Example-derivative controller only contains two control parameters of P, D, and since da only plays secondary correcting action, P, D parameter can take
Some smaller numerical value, P parameters take 0.5 or so, D parameters to take 0.1 or so.Wherein, η is the directional velocity and aircraft of aircraft
The angle of present position and its 2 line direction of flight path pilot point.
Da=PID*dx
as'=as+da
Flight can be calculated according to the real time position of every frame aircraft respective flight path pilot point and aircraft in S3.2
The practical guide length L'(L' of device control is the plane Euclidean distance of position of aircraft and flight path pilot point).According to longitudinal formation
Error dy and practical guide length L', the desired speed V of calculating aircrafte.Wherein V and L is pre-defined one group of parameter, if
Count the following formula of range general satisfaction, wherein ωUAVIt is fixed after the completion of aerocraft system design for the control bandwidth of aircraft
Numerical value, normal aircraft is generally in 0.2~1.0 range.Here, the present invention uses simple proportional controller, only wrap
Mono- control parameter of P is contained.In PID* (L'-L) item, P parameters take 0.1 or so, and in PID*dy, P parameters take 2 or so.
Ve=V+PID* (L'-L)+PID*dy
Beneficial effects of the present invention are as follows：
The present invention provides a kind of formation control methods of amalgamation of global information and local message.Realize global flight path with
On the basis of track, by merging the real-time local state information of leader and wing plane, by the Real-time Error information of formation control process
It is introduced into the algorithm of formation control, improves the convergent rapidity of formation control, ensure the accuracy of local formation control, to
Efficiently accomplish the task of formation flight.
Description of the drawings
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is the schematic diagram of nonlinear Track In Track method；
Fig. 3 is formation structure parameters schematic diagram.
Specific implementation mode
In order to make technical scheme of the present invention and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that specific embodiment described herein is only used for explaining the present invention, it is not used to
Limit the present invention.
Referring to Fig.1, Fig. 2, Fig. 3, a kind of formation control method of amalgamation of global information and local message of the present invention, use
It is a kind of control method of " leader-wing plane " pattern, the process of control is using global desired track as main information.Specific step
It is rapid as follows：
S1 is according to the real time position P of leaderl(xl,yl), the letters such as preset length of lead L and global desired track F
Breath, resolves the flight path pilot point P of leadergl(xgl,ygl).On this basis according to the requirement of formation parameter, the flight path of wing plane is resolved
Pilot point.
S1.1 carries out trajectory planning in ground control system to leader, gives the global desired track F of fixed length machine.
S1.2 is according to the real time position P of leaderl(xl,yl), preset length of lead L and global desired track F, meter
Calculate the flight path pilot point P of leadergl(xgl,ygl)。
S1.3 is according to the position P of the flight path pilot point of leadergl(xgl,ygl) and flight path pilot point direction θgl.Reference Fig. 3,
In conjunction with preset formation structure parameters (Formation_x, Formation_y), the flight path pilot point P of wing plane is resolvedgf
(xgf,ygf).Wherein, the direction θ of flight path pilot pointglIt is global desired track F in point Pgl(xgl,ygl) at tangential direction,
Formation_x be wing plane with respect to leader expectation lateral distance, Formation_y be wing plane with respect to leader expectation longitudinally away from
From.
S2 is with the real time position P of leaderl(xl,yl) it is origin, with the direction θ of leaderlFor YbAxis direction establishes the office of leader
Portion coordinate system XbObYb.In order to improve the effect of formation control, in the local coordinate system X of leaderbObYbIn, in real time calculate leader and
Local formation error (dx, dy) between wing plane.
S2.1 is by wing plane real time position Pf(xf,yf) project to real time position P with leaderl(xl,yl) it is origin, leader
Direction θlFor YbThe local coordinate system X of axis directionbObYbIn, obtain local coordinate (local_x, local_y).Wherein, local_x
Practical lateral distance for wing plane with respect to leader, local_y are practical fore-and-aft distance of the wing plane with respect to leader.
S2.2 calculates actual positional relationship (local_x, local_y) and formation structure parameters between leader-wing plane
The local formation error (dx, dy) of (Formation_x, Formation_y).Wherein, dx is desired lateral distance and practical side
To the deviation of distance, dy is the deviation of desired fore-and-aft distance and practical fore-and-aft distance.
During S3 aircraft formations are flown, main control is calculated according to the respective flight path pilot point of every frame aircraft
System instruction calculates secondary revision directive according to local formation error (dx, dy), and two instructions are added, and obtain the reality of aircraft
Border control instruction carries out formation flight control.
During S3.1 aircraft formations are flown, according to the respective flight path pilot point of every frame aircraft, using a kind of non-
Linear Track In Track method is (as shown in Figure 2) to carry out lateral control instruction asCalculating, wherein v be aircraft speed.Root
Secondary revision directive da is calculated according to lateral formation error dx, two instructions are added, and obtain actual lateral control instruction as',
Realize the lateral control of aircraft；Wherein PID be it is widely used (proportional-integral-derivative, than
Example-Integrated Derivative) control method, contain tri- control parameters of P, I, D.Here, the present invention is using proportional-plus-derivative control
Device processed contains two control parameters of P, D, since da only plays secondary correcting action, the number that P, D parameter can take some smaller
Value, P parameters take 0.5 or so, D parameters to take 0.1 or so)；
Da=PID*dx
as'=as+da
Flight can be calculated according to the real time position of every frame aircraft respective flight path pilot point and aircraft in S3.2
Practical guide the length L', L' of device control are the plane Euclidean distance of position of aircraft and flight path pilot point；According to longitudinal formation
Error dy and practical guide length L', the desired speed V of calculating aircrafte.PID uses simple proportional controller herein,
(L'-L) in item, P parameters take in 0.1 or so, dy, and P parameters take 2 or so.
Ve=V+PID* (L'-L)+PID*dy
Wherein V and L is pre-defined one group of parameter, scope of design general satisfactionWherein ωUAVFor flight
The control bandwidth of device is fixed numerical value after the completion of aerocraft system design, and normal aircraft is generally in 0.2~1.0 range
It is interior.
In conclusion although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention, any
Those of ordinary skill in the art, without departing from the spirit and scope of the present invention, when can make it is various change and retouch, therefore this hair
Bright protection domain is subject to the range defined depending on claims.
Claims (4)
1. a kind of formation control method of amalgamation of global information and local message, which is characterized in that include the following steps：
S1 is according to the real time position P of leaderl(xl,yl), the information such as preset length of lead L and global desired track F, solution
Calculate the flight path pilot point P of leadergl(xgl,ygl), on this basis according to the requirement of formation structure parameters, resolve the flight path of wing plane
Pilot point；
S2 is with the real time position P of leaderl(xl,yl) it is origin, with the direction θ of leaderlFor YbAxis direction, the part for establishing leader are sat
Mark system XbObYb；In the local coordinate system X of leaderbObYbIn, calculate in real time between leader and wing plane local formation error (dx,
dy)；
During S3 aircraft formations are flown, main control is calculated according to the respective flight path pilot point of every frame aircraft and is referred to
It enables, secondary revision directive is calculated according to local formation error (dx, dy), two instructions are added, and obtain the practical control of aircraft
System instruction is the lateral control instruction a of aircrafts' and aircraft desired speed Ve, carry out formation flight control.
2. the formation control method of amalgamation of global information and local message according to claim 1, which is characterized in that S1's
Implementation method is as follows：
S1.1 carries out trajectory planning in ground control system to leader, gives the global desired track F of fixed length machine；
S1.2 is according to the real time position P of leaderl(xl,yl), preset length of lead L and global desired track F, calculate length
The flight path pilot point P of machinegl(xgl,ygl)；
S1.3 is according to the position P of the flight path pilot point of leadergl(xgl,ygl) and flight path pilot point direction θgl, in conjunction with presetting
Formation structure parameters (Formation,x FormatioN), y resolves the flight path pilot point P of wing planegf(xgf,ygf)；
Wherein, the direction θ of flight path pilot pointglIt is global desired track F in point Pgl(xgl,ygl) at tangential direction,
Formation_x be wing plane with respect to leader expectation lateral distance, Formation_y be wing plane with respect to leader expectation longitudinally away from
From.
3. the formation control method of amalgamation of global information and local message according to claim 2, which is characterized in that S2's
Implementation method is as follows：
S2.1 is by wing plane real time position Pf(xf,yf) project to real time position P with leaderl(xl,yl) it is origin, the direction of leader
θlFor YbThe local coordinate system X of axis directionbObYbIn, obtain local coordinate (local_x, local_y)；
Wherein, local_x is practical lateral distance of the wing plane with respect to leader, and local_y is practical longitudinal direction of the wing plane with respect to leader
Distance；
S2.2 calculates actual positional relationship (local_x, local_y) and formation structure parameters between leader-wing plane
The local formation error (dx, dy) of (Formation_x, Formation_y)；
Wherein, dx is the deviation of desired lateral distance and practical lateral distance, and dy is desired fore-and-aft distance and practical fore-and-aft distance
Deviation.
4. the formation control method of amalgamation of global information and local message according to claim 3, which is characterized in that S3's
Implementation method is as follows：
S3.1 carries out lateral control instruction a according to the respective flight path pilot point of every frame aircraftsCalculating, missed according to lateral form into columns
Poor dx calculates secondary revision directive da, and two instructions are added, and obtain actual lateral control instruction as', realize aircraft
Lateral control；
Da=PID*dx
as'=as+da
Wherein PID indicates proportional integral differential control method, contains two controls of P, D using proportional-plusderivative controller herein
Parameter processed, wherein P take 0.5, D to take 0.1；η is the directional velocity and aircraft present position and its flight path pilot point two of aircraft
The angle in point line direction；
Aircraft control can be calculated according to the real time position of every frame aircraft respective flight path pilot point and aircraft in S3.2
Practical guide the length L', L' of system are the plane Euclidean distance of position of aircraft and flight path pilot point；According to longitudinal formation error
Dy and practical guide length L', the desired speed V of calculating aircrafte；
Ve=V+PID* (L'-L)+PID*dy
Wherein PID indicates proportional integral differential control method, uses simple proportional controller herein, only contains P mono-
Control parameter, in PID* (L'-L) item, P parameters take 0.1, and in PID*dy, P parameters take 2；V and L is pre-defined one
Group parameter, it is desirable that meetωUAVFor the control bandwidth of aircraft.
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| CN112947564A (en) * | 2021-02-26 | 2021-06-11 | 西安羚控电子科技有限公司 | Multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree |
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| CN109782806B (en) * | 2019-02-19 | 2020-10-23 | 北京邮电大学 | Indoor path tracking method and device for unmanned aerial vehicle |
| CN109782806A (en) * | 2019-02-19 | 2019-05-21 | 北京邮电大学 | Path following method and device in a kind of unmanned plane room |
| CN110209198A (en) * | 2019-06-28 | 2019-09-06 | 中国电子科技集团公司第二十七研究所 | A kind of unmanned plane cluster formation flight ground real-time control method and control device |
| CN111221354A (en) * | 2019-11-26 | 2020-06-02 | 南京航空航天大学 | Fixed wing formation control method based on improved turning radius |
| CN111045450B (en) * | 2019-12-11 | 2022-09-30 | 江苏理工学院 | Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle |
| CN111045450A (en) * | 2019-12-11 | 2020-04-21 | 江苏理工学院 | Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle |
| CN111176333A (en) * | 2020-04-07 | 2020-05-19 | 成都纵横自动化技术股份有限公司 | Flight control method and device, autopilot and aircraft |
| CN112947564A (en) * | 2021-02-26 | 2021-06-11 | 西安羚控电子科技有限公司 | Multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree |
| CN112947564B (en) * | 2021-02-26 | 2022-11-22 | 西安羚控电子科技有限公司 | Multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree |
| CN113867393A (en) * | 2021-10-19 | 2021-12-31 | 中国人民解放军军事科学院国防科技创新研究院 | Flight path controllable unmanned aerial vehicle formation form reconstruction method |
| CN113867393B (en) * | 2021-10-19 | 2024-04-19 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned aerial vehicle formation reconstruction method with controllable flight path |
| CN114815856A (en) * | 2022-06-27 | 2022-07-29 | 中国人民解放军国防科技大学 | Time-varying formation inclusion control method, device and equipment for incomplete multi-agent system |
| CN114815856B (en) * | 2022-06-27 | 2022-09-20 | 中国人民解放军国防科技大学 | Time-varying formation inclusion control method, device and equipment for incomplete multi-agent system |
| CN116301041A (en) * | 2023-03-16 | 2023-06-23 | 华中科技大学 | Method, device and system for controlling formation flight of fixed-wing slave following collar machine |
| CN116301041B (en) * | 2023-03-16 | 2024-01-09 | 华中科技大学 | Method, device and system for controlling formation flight of fixed-wing slave following collar machine |
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