CN109491403A - A kind of collaboration Altitude Long Endurance Unmanned Air Vehicle connection control method - Google Patents
A kind of collaboration Altitude Long Endurance Unmanned Air Vehicle connection control method Download PDFInfo
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Abstract
The present invention relates to a kind of collaboration Altitude Long Endurance Unmanned Air Vehicles to connect control method, establishes Altitude Long Endurance Unmanned Air Vehicle motion model；Determine control amount and constraint condition；Controlling model is established, research is completed to consume the entirety minimum ENERGY E of unmanned plane formation S' in this connection procedureS'Control strategy；The energy state for considering single rack unmanned plane and the distribution order of connection at a distance from the unmanned plane formation that connection is completed；The optimal flying speed of interior unmanned plane of form into columns after collaboration Altitude Long Endurance Unmanned Air Vehicle connection calculates, and guarantees to fly under optimum capacity state.Develop the connection procedure based on energy, using shortest path planning realize energy conservation connection, make form into columns inside Energy distribution more evenly；The final energy distribution of formation is not influenced by starting distance, determines that the distribution of the final energy in forming into columns can be significantly reduced in the order of connection using connection priority；Connecting energy of the unmanned aerial vehicle group formed integrally than the formation consumption of not connected unmanned plane significantly reduces, and flight range greatly increases.
Description
Technical field
The present invention relates to a kind of control technology, in particular to a kind of collaboration Altitude Long Endurance Unmanned Air Vehicle connects control method.
Background technique
In order to promote the cruising ability of unmanned plane, improves multiple no-manned plane task and complete efficiency, novel unmanned plane and formation fly
Row control has become the hot spot of research.About the energy conservation flight of aircraft, there is related beg in terms of path planning and dynamic of heat
By, also have wireless charging, propulsion source alternately and formation flight power-saving technology research.The aircraft optimal control for energy saving of early stage is studied
It is concentrated mainly on time or fuel state.
Altitude Long Endurance Unmanned Air Vehicle is a kind of novel unmanned plane, and the flight time of Altitude Long Endurance Unmanned Air Vehicle is up to some months
Even several years, but the span reaches tens of rice, significantly limits the airport quantity for supporting this unmanned plane, and greatly the span it is light-duty nobody
Machine is also difficult to carry out rapid deployment.Currently, the research of Altitude Long Endurance Unmanned Air Vehicle is concentrated mainly on the sun with high aspect ratio
It can unmanned plane aspect.Solar powered aircraft will receive the restriction of generating efficiency, generally have following three kinds of strategies that can promote solar energy
The cruising ability of unmanned plane.Resistance is reduced using biggish aspect ratio；Path planning is carried out using optimum control；By close
Formation flight obtains aerodynamic advantages.Currently, the aerodynamic arrangement of single machine and aeroperformance are all relatively mature, to mention again
High aeroperformance difficulty is larger.
Research for formation flight has become a hot topic of research, the energy conservation that the aerodynamic advantages of close formation flight generate
Effect is also more apparent, and many large birds often fly by certain formation in long-distance migrate, as wild goose lines up " one " word formation
It is migrated.
Summary of the invention
The problem of the present invention be directed to unmanned plane coordinating operations proposes a kind of collaboration Altitude Long Endurance Unmanned Air Vehicle connection control
Method processed, is attached for Altitude Long Endurance Unmanned Air Vehicle, forms close form into columns and carries out saving fly able control solution.
The technical solution of the present invention is as follows: a kind of collaboration Altitude Long Endurance Unmanned Air Vehicle connects control method, specifically include as follows
Step:
1) Altitude Long Endurance Unmanned Air Vehicle motion model is established:
Altitude Long Endurance Unmanned Air Vehicle is as follows with respect to the Equation of Motion formula of ground motion model:
Wherein, i ∈ { 1,2 ..., N } indicates unmanned plane serial number in formation, and N is the quantity of unmanned plane in forming into columns；
Respectively velocity component of the unmanned plane i in horizontal plane x-axis and y-axis；For the course angle ψ of unmanned plane iiDerivation obtains motor-driven
Speed；ViFor the flying speed of unmanned plane i；αiFor the normal acceleration of unmanned plane i；
2) control amount and constraint condition are determined:
Choose the vector including speed and motor-driven speedAs control amount, if Vi,minFor unmanned plane i
Available minimum speed, Vi,maxFor the available maximum speed of unmanned plane i, and the constraint of speed with have connected the quantity of unmanned plane without
It closes, relationship are as follows:
Vi,min≤Vi≤Vi,max
Have connected the controllable velocity constraint of unmanned plane are as follows:
Wherein,For be completed connection unmanned plane controllable velocity；For be completed the n frame of connection without
Man-machine maximum controllable velocity；N ∈ 2 ..., and N } it is the unmanned plane quantity that connection is completed；
The quantity of state for remembering unmanned plane i is Xi(k)=[x (k) y (k) ψ (k)]T, then Equation of Motion formula is carried out linear
Change and discretization, can equivalently state in the matrix form are as follows:
Wherein, k=0,1,2 ..., K are discrete instants；K is discrete instants quantity；Δ t is discrete steps；WiFor zero-mean
White Gaussian noise meets the normal distribution that mean value is zero；
3) sequence of energy conservation connection is determined:
Distribution is determined according to the energy state of single rack unmanned plane and with being completed at a distance from the unmanned plane formation of connection
The order of connection；
4) zero lift drag equation is used, determines the optimal flying speed of unmanned plane in forming into columns；
5) Controlling model is established:
With state vector Xi(k) unmanned plane i must be successively attached with the unmanned plane formation S " that connection is completed,
It completes to consume the entirety minimum ENERGY E of unmanned plane formation S' in this connection procedureS'Control strategy,
The Controlling object function of solar energy unmanned plane energetic optimum connection strategy problem are as follows:
Wherein, nk is time domain length；E0,S'Do not start the initial energy state being attached for unmanned plane formation S'；ES'(k
+ j) it is unmanned plane formation S' energy consumed by the k+j moment, time-domain value is related with the duration of connection, when the Connection Time is longer
Thresholding is bigger；C is energy saving connection strategy；
The constraint of unmanned plane final position in connection is as follows:
Φi=| | XS"(k+nk-1)-Xi(k+nk- 1) | |=ri,S"
Wherein, ri,S"For the desired distance of unmanned plane and linking objective, XS"(k+nkIt -1) is k+nkConnection was completed in -1 moment
Unmanned plane formation S " quantity of state.
The step 3) determines the energy saving sequence connected, and specific step is as follows:
It is as follows to have connected formation " center of energy " equation expression formula:
Wherein,For be completed connection unmanned plane i state Xi(k)=[x (k) y (k) ψ (k)]TSample average,
E0It is the average initial energy state that unmanned plane is formed into columns when not being attached, EiIt is the present energy that the unmanned plane i of connection is completed
State；
Have connected unmanned plane form into columns in single rack unmanned plane and have connected unmanned plane formation " center of energy " at a distance from expression formula
Are as follows:
Wherein,The x-axis and y-axis component of the state mean value of the unmanned plane i of connection is respectively completed,The respectively x-axis of center of energy and y-axis component；
The expression formula of connection priority are as follows:
Wherein, ΩdIt is EiWith distanceBetween weighted value；R is starting average departure when unmanned plane does not start to be attached
From；QdIt is higher to be worth bigger priority.
The acquisition methods of the optimal flying speed of unmanned plane are as follows in the formation:
The energy expenditure rate of unmanned plane is next approximate using zero lift drag equation, close by n frame unmanned plane formation S' power consumption
Like calculation expression are as follows:
PS'(V, n)=TV
Wherein, V is the air speed that unmanned plane is formed into columns；T is the whole airscrew thrust of unmanned plane formation；
T=D
The calculating of resistance D is as follows during UAV Formation Flight:
Wherein, ρ is atmospheric density；S is wing area；CDExpression formula are as follows:
Wherein,For zero-lift drag coefficient；λ is aspect ratio；E is Oswald efficiency factor；Lift coefficient CLExpression formula
Are as follows:
Wherein,For zero lift coefficient；For slope of lift curve；α is generator rotor angle；
The lift that unmanned plane is formed into columns are as follows:
When unmanned plane height-lock control, lift and gravity have following relationship:
Wherein, miFor the quality of unmanned plane i；For roll angle；
The lift formula and lift and gravity relationship formula that simultaneous unmanned plane is formed into columns, can acquire the optimal flying speed of unmanned plane
Are as follows:
The beneficial effects of the present invention are: the present invention cooperates with Altitude Long Endurance Unmanned Air Vehicle to connect control method, develops base
In the connection procedure of energy, energy conservation connection is realized using shortest path planning, makes Energy distribution inside forming into columns more evenly；It forms into columns
Final energy distribution do not influenced by starting distance, determine that formation can be significantly reduced in the order of connection using connection priority
Interior final energy distribution；Connecting energy of the unmanned aerial vehicle group formed integrally than the formation consumption of not connected unmanned plane significantly reduces,
Flight range greatly increases.
Detailed description of the invention
Fig. 1 is present invention collaboration Altitude Long Endurance Unmanned Air Vehicle connection schematic diagram；
Fig. 2 is connection type figure of the present invention formation based on optimal flying speed；
Fig. 3 is the energy saving connection system composite structural diagram of the present invention；
Fig. 4 is the connection procedure simulation result diagram that 4 frame unmanned planes of the invention are formed into columns.
Specific embodiment
Cooperateing with high altitude long time includes control and Research on Interactive Problem, needs the road to Collaborative Control, small-sized inefficient unmanned plane
The independence of diameter planning and unmanned plane is further to be studied.It is different from the formation flight of dispersion, it is desirable to use collaboration high-altitude
Long endurance system needs to develop the formation control method of a kind of unmanned plane intersection and connection.The method of the present invention is collaboration unmanned plane
Distribution action develop unmanned plane synergistic mechanism, propose in the case where ignoring wind-force in situation, multiple UAVs progress sequence connects
The energy saving flight control strategy connect.Specific step is as follows for the control method for cooperateing with Altitude Long Endurance Unmanned Air Vehicle to connect:
Step 1: Altitude Long Endurance Unmanned Air Vehicle motion model is established
Altitude Long Endurance Unmanned Air Vehicle is as follows with respect to the Equation of Motion formula of ground motion model:
Wherein, i ∈ { 1,2 ..., N } indicates unmanned plane serial number in formation, and N is the quantity of unmanned plane in forming into columns；
Respectively velocity component of the unmanned plane i in horizontal plane x-axis and y-axis；For the course angle ψ of unmanned plane iiDerivation obtains motor-driven
Speed；ViFor the flying speed of unmanned plane i；αiFor the normal acceleration of unmanned plane i；
Step 2: control amount and constraint condition are determined
Choose the vector including speed and motor-driven speedAs control amount, if Vi,minFor unmanned plane i
Available minimum speed, Vi,maxFor the available maximum speed of unmanned plane i.And the constraint of speed with have connected the quantity of unmanned plane without
It closes, relationship are as follows:
Vi,min≤Vi≤Vi,max (2)
Have connected the controllable velocity constraint of unmanned plane are as follows:
Wherein,For be completed connection unmanned plane controllable velocity；For be completed the n frame of connection without
Man-machine maximum controllable velocity；N ∈ 2 ..., and N } it is the unmanned plane quantity that connection is completed；
The quantity of state for remembering unmanned plane i is Xi(k)=[x (k) y (k) ψ (k)]T, then Equation of Motion formula (1) is carried out
Linearisation and discretization, can equivalently state in the matrix form are as follows:
Wherein, k=0,1,2 ..., K are discrete instants；K is discrete instants quantity；Δ t is discrete steps；WiFor zero-mean
White Gaussian noise meets the normal distribution that mean value is zero, i.e.,
Wherein:For Wi(k-1) covariance.
Step 3: the sequence of energy conservation connection is determined
For realize energy conservation connection, it is necessary to solve connection sequencing problem, 1.8 myriametres height simultaneously carry out multi rack nobody
The connection of machine be it is unpractical, when first is attached, other unmanned planes are formed into columns close to the unmanned plane that has connected, most
Eventually, multiple UAVs will follow the unmanned plane having connected to form into columns, according to the energy state of every frame unmanned plane, in a certain order
It is arranged, the determination method of the connection priority of the unmanned aerial vehicle group is:
The method for the distribution order of connection that the method for the present invention is proposed consider single rack unmanned plane energy state and with
The distance that the unmanned plane of connection is formed into columns is completed.Formation Center's reference point also should include the energy state of unmanned plane, " in energy
The heart " equation expression formula is as follows:
Wherein,For be completed connection unmanned plane i state Xi(k)=[x (k) y (k) ψ (k)]TSample average,
E0It is the average initial energy state that unmanned plane is formed into columns when not being attached, EiIt is the present energy that the unmanned plane i of connection is completed
State；
Have connected unmanned plane form into columns in single rack unmanned plane and have connected unmanned plane formation " center of energy " at a distance from expression formula
Are as follows:
Wherein,The x-axis and y-axis component of the state mean value of the unmanned plane i of connection is respectively completed,The respectively x-axis of center of energy and y-axis component；
The expression formula of connection priority are as follows:
Wherein, ΩdIt is EiWith distanceBetween weighted value；R is starting average departure when unmanned plane does not start to be attached
From.Bigger priority is higher.
Step 4: the optimal flying speed of unmanned plane is determined
To avoid more complex motor-driven of unmanned plane, all unmanned planes expectations will lead to certain nothings with identical speed traveling
It is man-machine, collection or not connected collection are either had connected, it all will be not to be that most effective speed is flown, it is necessary to which be determined
Set should fly under non-optimal energy state, and the acquisition methods of the optimal flying speed for interior unmanned plane of forming into columns are as follows:
The energy expenditure rate of unmanned plane can be used zero lift drag equation come it is approximate, disappeared by n frame unmanned plane formation S' power
Consume approximate calculation expression formula are as follows:
PS'(V, n)=TV (9)
Wherein, V is the air speed that unmanned plane is formed into columns；T is the whole airscrew thrust of unmanned plane formation；
T=D (10)
The calculating of resistance D is as follows during UAV Formation Flight:
Wherein, ρ is atmospheric density；S is wing area；CDExpression formula are as follows:
Wherein,For zero-lift drag coefficient；λ is aspect ratio；E is Oswald efficiency factor；Lift coefficient CLExpression formula
Are as follows:
Wherein,For zero lift coefficient；For slope of lift curve；α is generator rotor angle；
The lift that unmanned plane is formed into columns are as follows:
When unmanned plane height-lock control, lift and gravity have following relationship:
Wherein, miFor the quality of unmanned plane i；For roll angle；
Joint type (14), formula (15), can acquire the optimal flying speed of unmanned plane are as follows:
In period [t0,tf] in, unmanned plane energy consumption are as follows:
Step 5: Controlling model is established
With state vector Xi(k) unmanned plane i must be successively attached with the unmanned plane formation S " that connection is completed,
Research is completed to consume the entirety minimum ENERGY E of unmanned plane formation S' in this connection procedureS'Control strategy become to be solved it is main
Problem；
The Controlling object function of solar energy unmanned plane energetic optimum connection strategy problem are as follows:
Wherein, nkFor time domain length；E0,S'Do not start the initial energy state being attached for unmanned plane formation S'；ES'(k
+ j) it is unmanned plane formation S' energy consumed by the k+j moment, time-domain value is related with the duration of connection, when the Connection Time is longer
Thresholding is bigger；C is energy saving connection strategy；
The constraint of unmanned plane final position in connection is as follows:
Φi=| | XS"(k+nk-1)-Xi(k+nk- 1) | |=ri,S" (19)
Wherein, ri,S"For the desired distance of unmanned plane and linking objective；This constraint purpose is that controlling unmanned plane completes
When connection, the distance between unmanned plane wing is fixed value ri,S"；XS"(k+nkIt -1) is k+nkThe unmanned plane of connection was completed in -1 moment
The quantity of state of formation S ".
Formula (16) shows that the optimal flying speed of unmanned plane and the evolution of the unmanned plane quantity of connection are inversely proportional, and shows optimal
Flying speed reduces with the increase of unmanned plane quantity.It therefore, can be by making the unmanned plane having connected form into columns with optimal speed
Degree flies, and the unmanned plane in connection realizes the connection of optimal energy at faster speed.
With the increase for having connected unmanned plane quantity, mobility will decline.Therefore, the unmanned plane having connected should be flat
Rectilinear flight on face, and not connected unmanned plane during flying is to rendezvous position.
Unmanned plane executes task in Desired Height with random site and energy state, when unmanned plane issues connection task requests
Afterwards, connection priority is distributed for every frame unmanned plane, to determine the sequence of connection.Cooperate with Altitude Long Endurance Unmanned Air Vehicle connection task
It briefly describes as shown in Figure 1.
Fig. 2 describes the connection procedure based on optimal flying speed proposed.The unmanned plane having connected is in non-optimal energy
It flies under amount state.In fact, highest priority is given not connected unmanned plane by this, advantageously reduce formation unmanned plane it
Between energy distribution pay the utmost attention to save the energy on not connected unmanned plane, while reducing any unnecessary operation.
Intend unmanned plane from computer generation exterior deficiency with four, uses the sensor reading for the virtual Noise that master computer provides
To carry out the state estimation of formation unmanned plane.After state estimation, the state that unmanned plane is provided according to base station is come planning path and control
System input receives control input by master computer.
The visualization of emulation is attached using FlightGear (a kind of open source flight simulator).Four are made from computer
For FlightGear client, the state of unmanned plane is obtained from master computer and shows unmanned plane on a monitor.System composition
Structure is as shown in Figure 3.The energy conservation connection system shows the flight path of each unmanned plane in Altitude Long Endurance Unmanned Air Vehicle formation, compiles
The position of all unmanned planes and energy state in team are capable of the connection procedure of the every frame unmanned plane of real-time visual.
Choose 4 frame unmanned planes form into columns carry out simulating, verifying, first to based on the energy saving connection control policy proposed to nothing
The connection procedure of man-machine formation is emulated.The parameter and variable element that the parameter of emulation is divided into for unmanned plane fixed numbers.Nothing
Parameter T, m, S, λ, the e of man-machine fixed numbers,It is respectively as follows: 60s, 454kg, 100m2, 5,0.8,0.009.Variable element V,
Ωd,The range of R is respectively as follows: 8.2-19.5m/s, 0.001-100,0.15-0.37rad/s, 100-3000m.
Connection path and energy state based on energy saving connection strategy are as shown in figure 4, two frame unmanned planes complete connection, in addition
Two framves are not connected with unmanned plane and chase the unmanned plane formation having connected.Be completed two frame unmanned planes of connection than two not connected framves without
Man-machine energy consumption is many slowly.It is intersected along shortest path with the unmanned plane formation having connected apart from farthest unmanned plane.It is right
The energy diagram at upper angle shows that the energy of the two frame unmanned planes connected at first is not minimum, because this two framves unmanned plane is emulating
It is closest when beginning, so the connection rank of this two framves unmanned plane is set as highest by system, apart from farther away unmanned plane
When flying to the unmanned plane for issuing bind command along shortest path, closer two framves unmanned plane of first adjusting the distance is attached.
The demonstration of energy saving connection system is the result shows that obtain energy state very well by the method for determining the order of connection
Improvement, the control strategy proposed is suitable for aircraft in practice.
Claims (3)
1. a kind of collaboration Altitude Long Endurance Unmanned Air Vehicle connects control method, which is characterized in that specifically comprise the following steps:
1) Altitude Long Endurance Unmanned Air Vehicle motion model is established:
Altitude Long Endurance Unmanned Air Vehicle is as follows with respect to the Equation of Motion formula of ground motion model:
Wherein, i ∈ { 1,2 ..., N } indicates unmanned plane serial number in formation, and N is the quantity of unmanned plane in forming into columns； Respectively
For velocity component of the unmanned plane i in horizontal plane x-axis and y-axis；For the course angle ψ of unmanned plane iiThe motor-driven speed that derivation obtains
Degree；ViFor the flying speed of unmanned plane i；αiFor the normal acceleration of unmanned plane i；
2) control amount and constraint condition are determined:
Choose the vector including speed and motor-driven speedAs control amount, if Vi,minFor unmanned plane i can
With minimum speed, Vi,maxFor the available maximum speed of unmanned plane i, and the constraint of speed is unrelated with the quantity for having connected unmanned plane,
Relationship are as follows:
Vi,min≤Vi≤Vi,max
Have connected the controllable velocity constraint of unmanned plane are as follows:
Wherein,For be completed connection unmanned plane controllable velocity；For the n frame unmanned plane that connection is completed
Maximum controllable velocity；N ∈ 2 ..., and N } it is the unmanned plane quantity that connection is completed；
The quantity of state for remembering unmanned plane i is Xi(k)=[x (k) y (k) ψ (k)]T, then to Equation of Motion formula carry out linearisation and
Discretization can be stated equivalently in the matrix form are as follows:
Wherein, k=0,1,2 ..., K are discrete instants；K is discrete instants quantity；Δ t is discrete steps；WiFor zero-mean gaussian
White noise meets the normal distribution that mean value is zero；
3) sequence of energy conservation connection is determined:
Distribution connection is determined according to the energy state of single rack unmanned plane and with being completed at a distance from the unmanned plane formation of connection
Sequentially；
4) zero lift drag equation is used, determines the optimal flying speed of unmanned plane in forming into columns；
5) Controlling model is established:
With state vector Xi(k) unmanned plane i must be successively attached with the unmanned plane formation S " that connection is completed, and be completed
The entirety minimum ENERGY E of unmanned plane formation S' is consumed in this connection procedureS'Control strategy,
The Controlling object function of solar energy unmanned plane energetic optimum connection strategy problem are as follows:
Wherein, nkFor time domain length；E0,S'Do not start the initial energy state being attached for unmanned plane formation S'；
ES'It (k+j) is unmanned plane formation S' energy consumed by the k+j moment, time-domain value is related with the duration of connection, when connection
Between longer time-domain value it is bigger；C is energy saving connection strategy；
The constraint of unmanned plane final position in connection is as follows:
Φi=| | XS"(k+nk-1)-Xi(k+nk- 1) | |=ri,S"
Wherein, ri,S"For the desired distance of unmanned plane and linking objective, XS"(k+nkIt -1) is k+nkThe nothing of connection was completed in -1 moment
The quantity of state of man-machine formation S ".
2. collaboration Altitude Long Endurance Unmanned Air Vehicle connects control method according to claim 1, which is characterized in that the step 3)
Determine that specific step is as follows for the energy saving sequence connected:
It is as follows to have connected formation " center of energy " equation expression formula:
Wherein,For be completed connection unmanned plane i state Xi(k)=[x (k) y (k) ψ (k)]TSample average, E0It is
The average initial energy state that unmanned plane is formed into columns when not being attached, EiIt is the present energy shape that the unmanned plane i of connection is completed
State；
Have connected unmanned plane form into columns in single rack unmanned plane and have connected unmanned plane formation " center of energy " at a distance from expression formula are as follows:
Wherein,The x-axis and y-axis component of the state mean value of the unmanned plane i of connection is respectively completed,The respectively x-axis of center of energy and y-axis component；
The expression formula of connection priority are as follows:
Wherein, ΩdIt is EiWith distanceBetween weighted value；R is starting average distance when unmanned plane does not start to be attached；Qd
It is higher to be worth bigger priority.
3. collaboration Altitude Long Endurance Unmanned Air Vehicle according to claim 1 or claim 2 connects control method, which is characterized in that the volume
The acquisition methods of the optimal flying speed of unmanned plane are as follows in team:
The energy expenditure rate of unmanned plane is next approximate using zero lift drag equation, by n frame unmanned plane formation S' power consumption approximation meter
Operator expression formula are as follows:
PS'(V, n)=TV
Wherein, V is the air speed that unmanned plane is formed into columns；T is the whole airscrew thrust of unmanned plane formation；
T=D
The calculating of resistance D is as follows during UAV Formation Flight:
Wherein, ρ is atmospheric density；S is wing area；CDExpression formula are as follows:
Wherein,For zero-lift drag coefficient；λ is aspect ratio；E is Oswald efficiency factor；Lift coefficient CLExpression formula are as follows:
Wherein,For zero lift coefficient；For slope of lift curve；α is generator rotor angle；
The lift that unmanned plane is formed into columns are as follows:
When unmanned plane height-lock control, lift and gravity have following relationship:
Wherein, miFor the quality of unmanned plane i；For roll angle；
The lift formula and lift and gravity relationship formula that simultaneous unmanned plane is formed into columns, can acquire the optimal flying speed of unmanned plane are as follows:
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