CN110134142B - Rotary-wing unmanned aerial vehicle piloting following formation control method based on rotary repulsive field - Google Patents
Rotary-wing unmanned aerial vehicle piloting following formation control method based on rotary repulsive field Download PDFInfo
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Abstract
The invention discloses a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, and belongs to the technical field of formation control. The implementation method of the invention comprises the following steps: establishing a rotor wing unmanned aerial vehicle dynamic model, and designing a configuration control law based on a piloting following formation configuration control method; the collision avoidance control method based on the rotary repulsive field designs the rotary repulsive field by dividing threat domains of the rotor unmanned aerial vehicle, and further designs a collision avoidance control law; the configuration control law and the collision avoidance control law are combined to form a piloting following formation control law based on a rotary repulsive field, a formation control quantity of the rotor unmanned aerial vehicles is generated, a formation task is completed under the condition that collision avoidance between the aircrafts is guaranteed, meanwhile, the tangential guiding effect of the rotor unmanned aerial vehicles is generated by the rotor unmanned aerial vehicles, so that a plurality of rotor unmanned aerial vehicles can mutually surround in the formation task, the rotor unmanned aerial vehicles jump out of a local deadlock state in the formation task, the formation control efficiency can be improved, and the formation trapped in the local deadlock state can be relieved.
Description
Technical Field
The invention relates to a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, and belongs to the technical field of formation control.
Background
The unmanned aerial vehicle is an aircraft driven by power, unmanned on board and reusable, has the advantages of small volume, low cost, convenient use, low environmental requirement, strong viability and the like, and is very suitable for executing boring, severe and dangerous tasks. Unmanned aerial vehicles mainly include fixed wing unmanned aerial vehicles, unmanned helicopters, rotor unmanned aerial vehicles and other types of unmanned aerial vehicles. The rotor unmanned aerial vehicle has the advantages of high hovering precision, good maneuverability, simple control mode, strong robustness and the like, and is widely applied to the fields of regional reconnaissance, electric power line patrol, aerial photography and the like in recent years.
When the rotor unmanned aerial vehicle is applied to the professional fields of reconnaissance, line patrol and the like, a certain formation is adopted for flying, the reconnaissance and searching range can be enlarged, the success rate of executing tasks and the capability of resisting emergency events are higher than those of a single aircraft, and therefore formation flying becomes an important control mode for the rotor unmanned aerial vehicle to execute the tasks. Firstly, the formation control law generates the formation control quantity of each rotor unmanned aerial vehicle, and then the flight control system is used for controlling the rotor unmanned aerial vehicles, so that the formation flight of the rotor unmanned aerial vehicles is realized.
The formation control of the rotor unmanned aerial vehicle needs to generate the formation control quantity of a certain rotor unmanned aerial vehicle at the current moment according to the state information of a leader, the state information of the rotor unmanned aerial vehicle in a communication neighborhood and the state information of the rotor unmanned aerial vehicle, and the constraints of collision avoidance, threat avoidance, maneuvering performance and the like among aircrafts are considered, so that the formation, the maintenance and the switching of the formation configuration are realized. The formation control of the rotor unmanned aerial vehicle comprises two aspects of configuration control and collision avoidance control. Configuration control is used for realizing formation, maintenance and switching of formation configuration, and collision avoidance control is used for ensuring inter-aircraft collision avoidance and threat avoidance of the rotor unmanned aerial vehicle.
For the formation configuration control problem, the piloting following method has the characteristics of simple control structure, strong engineering practicability and the like. For the collision avoidance problem of multiple unmanned aerial vehicles, if the collision avoidance control is performed by adopting a traditional manual potential field method, the unmanned aerial vehicles are often trapped in a local deadlock state to cause the failure of tasks. In this regard, some research efforts have implemented fast collision avoidance by adding random disturbances to jump out of local deadlock. However, for the formation task, the local contradiction between the configuration control and the collision avoidance control makes the random disturbance method easily fall into the local deadlock state, so the multiple unmanned aerial vehicle formation control method must rapidly jump out of the local deadlock state under the condition of considering the actual constraint and ensure the collision avoidance between the unmanned aerial vehicles to guide the unmanned aerial vehicles to complete the formation task.
Disclosure of Invention
The invention discloses a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, which aims to solve the technical problems that: according to the actual task needs, the formation control quantity of the rotor unmanned aerial vehicle is generated by using a formation control method based on a rotary exclusion field method, the formation task is realized, collision avoidance constraints among machines are met, the formation control efficiency can be improved, and the problem that the formation is in a local deadlock state is solved.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, which comprises the steps of establishing a rotary wing unmanned aerial vehicle dynamic model, and designing a configuration control law based on the piloting following formation configuration control method; the collision avoidance control method based on the rotary repulsive field designs the rotary repulsive field by dividing threat domains of the rotor unmanned aerial vehicle, and further designs a collision avoidance control law; the configuration control law and the collision avoidance control law are combined to form a piloting following formation control law based on a rotary repulsive field, a formation control quantity of the rotor unmanned aerial vehicle is generated, a formation task is completed under the condition that collision avoidance between the machines is guaranteed, and meanwhile, the formation control efficiency can be improved, and the problem that the formation is in a local deadlock state is solved.
The invention discloses a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, which comprises the following steps:
the method comprises the following steps: and inputting the state information, formation task information, algorithm parameter information and task constraint information of the rotor unmanned aerial vehicle. The rotor unmanned aerial vehicle state information include speed, the acceleration state information of other rotor unmanned aerial vehicles in leader, self, communication neighborhood. The formation task information comprises formation configuration, task triggering conditions and communication neighborhood size. The algorithm parameter information comprises control parameters and threat domain partitions. The task constraint information comprises flight maneuver constraint and minimum safe distance constraint.
Step two: aiming at the problem of formation control of the rotor unmanned aerial vehicles, a rotor unmanned aerial vehicle dynamic model and a configuration control model are established, and a configuration control law is designed.
The second step is realized by the following concrete method:
the dynamic model of a rotorcraft is represented as a system of linear differential equations as shown in equation (1).
Wherein x is (x)x,xy,xz)TIndicating the position of the rotorcraft, xx、xy、xzRepresenting the components of the rotorcraft position in the x, y, and z axes, respectively, v ═ vx,vy,vz)TIndicating speed, v, of rotorcraftx、vy、vzRepresenting the components of the speed of the rotorcraft in the x, y, and z axes, respectively, u ═ u (u ═x,uy,uz)TRepresents the formation control quantity u of the rotor unmanned aerial vehiclex、uy、uzRespectively, the components of the formation control quantity of the rotor-wing unmanned aerial vehicle on x, y and z axes are represented, and the component means the expected acceleration of the rotor-wing unmanned aerial vehicle.
The ith slave machine is defined as a slave machine i, and the slave machine i is a rotor unmanned aerial vehicle i; the formation configuration control law of the rotor unmanned aerial vehicle i is as follows, and the control laws are respectively shown in formulas (2), (3) and (4).
li＝xi-xl(2)
ufi＝kpΔli+kd(vl-vi)+al(4)
Wherein liIndicating the relative position of the rotorcraft i and the leader, xiIndicating the position of the rotorcraft i, xlIndicating leader position,. DELTA.liIndicating a deviation of the desired relative position of the rotorcraft i and the pilot from the actual relative position,
indicating the desired relative position of the rotorcraft i and the leader, determined by the formation configuration, vlIndicating leader speed, viIndicating speed of rotorcraft i, alIndicating the leader acceleration, ufiIndicating i-configuration control quantity, k, of rotorcraftp、kdThe parameters are controlled for configuration.
Step three: to rotor unmanned aerial vehicle formation control problem, divide and design collision avoidance control law threaten the domain.
The third concrete implementation method comprises the following steps:
taking the rotor unmanned aerial vehicle m as an interloper, dividing a rotary repulsive field of the threat domain of the rotor unmanned aerial vehicle n, wherein the division result is shown in formulas (5) to (10).
lmn＝xm-xn(5)
vmn＝vm-vn(6)
dmn＝min(RThreat3,max(|lmn|,RThreat1)) (7)
Wherein lmnRepresents the relative position of rotor unmanned plane m and rotor unmanned plane n, xmIndicating the position of the rotorcraft m, xnIndicating the n position of the rotorcraft, vmnRepresents the relative speed and actual relative position deviation, v, of rotor drone m and rotor drone nmIndicates m speed, v, of rotorcraftnIndicating n speed, d, of the rotorcraftmnIs to lmnTaking the result of the boundary, AmnRepresenting a threatMagnitude of in-domain rotating repulsive field, kco1mnRepresenting the magnitude of the rotating field, kco2mnDenotes the magnitude of the repulsive field, Kco1，Kco2Respectively, the spin repulsion control parameters. RThreat1、RThreat2、RThreat3Is the partitioning of the threat domain. When rotor unmanned aerial vehicle m apart from RThreat3When there are other rotor unmanned aerial vehicles in the within range, be called the interloper with rotor unmanned aerial vehicle m, the interloper receives rotatory repulsive field effect. RThreat1、RThreat2For further division of the threat domain, when the distance between the intruder and the center of the field is RThreat3When the rotating force and the repulsive force are zero; when the intruder moves from the outer ring RThreat3When the depth is gradually increased, the rotating force and the repulsive force are gradually increased; when the distance between the intruder and the field center is RThreat1When the rotational force becomes maximum; when the intruder continues to go deep, the rotating force starts to decrease, and the repulsive force continues to increase; when the distance between the intruder and the field center is RThreat1When the rotating force is reduced to zero, the repulsive force reaches the maximum repulsive force; as the intruder continues to get deeper, the field center produces a maximum repulsive force to the intruder.
The collision avoidance control law of formation of the rotor unmanned aerial vehicles m intruding into the n threat domains of the rotor unmanned aerial vehicles is shown in formulas (11) and (12).
Wherein v isdcomnIndicating the desired speed, v, of rotorcraft m in collision avoidance controlsetIndicate that rotor unmanned aerial vehicle keeps away and hits control speed setting, rotor unmanned aerial vehicle will carry out collision avoidance motion with this speed, and epsilon is the constant that is used for preventing that singular value from appearing, ucomAnd (4) representing collision avoidance control quantity of the rotor unmanned aerial vehicle m.
Step four: and aiming at the configuration requirements and collision avoidance requirements in the formation task of the rotor unmanned aerial vehicle, combining the configuration control law designed in the step two with the collision avoidance control law designed in the step three to form the piloting following formation control law of the rotor unmanned aerial vehicle based on the rotary repulsive field.
The concrete implementation method of the step four is as follows:
and for the leader j, weighting the leader motion control law and the collision avoidance control law based on the rotary repulsive field to obtain a leader formation control law, wherein the formula is shown as (13).
ujl＝Kgugj+Kcolucoj(13)
Wherein u isjlFormation control law, u, representing leader jgjTask control law representing leader j, task guide for the entire formation, ucojCollision avoidance control law, K, representing leader jg、KcolThe weight coefficients are controlled for the leader.
The slave machine is composed of a plurality of rotor unmanned aerial vehicles, the specific number of the slave machines is determined according to actual use requirements, and for the slave machine i, the slave machine configuration control law and the collision avoidance control law based on the rotary repulsive field are weighted to obtain the slave machine formation control law, as shown in a formula (14).
uif＝Kfufi+Kcofucoi(14)
Wherein u isifRepresents the formation control law of the slave i, ufiRepresenting the configuration control law of the slave i for the guidance of the slave formation tasks, ucoiRepresenting the law of collision avoidance control of slave i, Kf、KcofThe weight coefficient is controlled by the slave.
The piloting formation control law shown in the formula (13) and the slave formation control law shown in the formula (14) are piloting following formation control laws of the rotary wing unmanned aerial vehicle based on the rotary repulsive field.
Step five: for time tTAnd considering the problem of formation control of the rotor unmanned aerial vehicles constrained by collision avoidance between the aircraft, and at the current moment, the rotor unmanned aerial vehicle i obtains the state information of the rotor unmanned aerial vehicles, the state information of the leader and the state information of all the rotor unmanned aerial vehicles in the communication neighborhood.
Step six: and judging whether the state information obtained in the step five meets task triggering conditions. If yes, executing step eleven; if not, continuing to execute the step seven.
Step seven: according to the current state information of the rotor unmanned aerial vehicle k and the current state information of the leader, calculating a configuration control law shown in a formula (4), and obtaining the configuration control quantity of the rotor unmanned aerial vehicle k at the current moment.
And the rotor unmanned aerial vehicle k is a rotor unmanned aerial vehicle in the slave machine i or the leader j.
Step eight: according to the current state information of the rotor unmanned aerial vehicle k and the state information of the rotor unmanned aerial vehicle in the communication neighborhood, the collision avoidance control law shown in the formulas (11) and (12) is calculated, and the collision avoidance control quantity of the rotor unmanned aerial vehicle k at the current moment is obtained.
Step nine: and (3) weighting the configuration control quantity and the collision avoidance control quantity to obtain the current formation control quantity of the rotor unmanned aerial vehicle k by utilizing the piloting following formation control law of the rotor unmanned aerial vehicle based on the rotary repulsive field shown in the formulas (13) and (14) to perform formation control on the rotor unmanned aerial vehicle k, and returning to the step five.
Step ten: and repeating the fifth step to the ninth step until the current formation task is completed, wherein the current formation task meets the collision avoidance constraint between machines, so that the formation control efficiency can be improved, and the problem that the formation is in a local deadlock state can be solved.
Step eleven: and according to the actual task needs, when a new queuing task exists, returning to the step one, triggering the next queuing task, and when no new queuing task exists, finishing the queuing task.
Has the advantages that:
1. the invention discloses a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, which comprises the steps of establishing a rotary wing unmanned aerial vehicle dynamic model, and designing a configuration control law based on the piloting following formation control method; dividing threat domains of the rotor unmanned aerial vehicle, designing a rotary repulsive field, providing a collision avoidance control method based on the rotary repulsive field and designing a collision avoidance control law; the designed formation control law and the collision avoidance control law are combined to form the formation control law based on the rotary repulsive field, and the formation control quantity of the rotor unmanned aerial vehicle, which can complete formation tasks and can ensure collision avoidance between the machines, is generated. The invention has the advantages of high formation control efficiency and capability of relieving the problem of falling into a local deadlock state.
2. The invention discloses a rotary wing unmanned aerial vehicle piloting following formation control method based on a rotary repulsive field, which selects the rotary repulsive field designed according to the formulas (5) to (11) to carry out a collision avoidance control law, and generates a tangential guide effect on the rotary wing unmanned aerial vehicle in a threat domain through division of the threat domain, wherein the guide effect is as follows: when the distance between the intruder and the field center is RThreat3When the rotating force and the repulsive force are zero; when the intruder moves from the outer ring RThreat3When the depth is gradually increased, the rotating force and the repulsive force are gradually increased; when the distance between the intruder and the field center is RThreat1When the rotational force becomes maximum; when the intruder continues to go deep, the rotating force starts to decrease, and the repulsive force continues to increase; when the distance between the intruder and the field center is RThreat1When the rotating force is reduced to zero, the repulsive force reaches the maximum repulsive force; as the intruder continues to get deeper, the field center produces a maximum repulsive force to the intruder. Produce the tangential guide effect through above-mentioned rotor unmanned aerial vehicle and make many rotor unmanned aerial vehicles can encircle each other in the task of formation, and then make rotor unmanned aerial vehicle jump out local deadlock in the task of formation to improve control efficiency.
Drawings
Fig. 1 is a flow chart of a piloting following formation control method for a rotor unmanned aerial vehicle based on a rotary repulsive field, disclosed by the invention;
FIG. 2 is a diagram illustrating a flight trajectory of a rotorcraft in accordance with simulation results of the method of the present invention;
FIG. 3 is a variation curve of the minimum distance of the UAV in the simulation result of the method of the present invention;
fig. 4 is a flight trajectory of a rotary wing drone of a simulation result of a conventional artificial potential field method in a specific implementation example;
fig. 5 is a variation curve of the minimum pitch of the rotor drones in the simulation result of the conventional artificial potential field method in the embodiment.
Detailed Description
For better illustrating the objects and advantages of the invention, the invention is further explained by a formation control example of the unmanned gyroplane, and by combining with the attached drawings and tables, and the comprehensive performance of the invention is verified and analyzed by comparing with the formation control method based on the traditional artificial potential field.
Example 1:
the feasibility and the effectiveness of the rotary wing unmanned aerial vehicle formation control method based on the rotation repulsion disclosed by the embodiment are demonstrated through switching the task scene by the single formation.
Five rotorcraft will form an echelon formation and maintain the formation in motion from a static, non-formation state. After the leader passes a certain trigger position, the formation is switched from the echelon formation to the longitudinal formation and the formation movement is kept until the leader reaches the task end trigger position. The collision avoidance constraint between the rotor unmanned aerial vehicles is considered in the whole task process, and the distance between the rotor unmanned aerial vehicles is not less than the minimum safe distance of 0.4 m.
Rotor unmanned aerial vehicle initial state is shown as table 1, and unmanned aerial vehicle 01 is the leader, and all the other are from the machine, and control input restraint is: under the speed coordinate system of rotor unmanned aerial vehicle, ux∈[-0.2,0.2]m/s2，uy∈[-0.2,0.2]m/s2(ii) a The speed of the rotor unmanned aerial vehicle is restricted to be not more than 0.2m/s in all directions. The pilot starts from an initial position and goes to a target position at a speed of 0.1m/s, specific task information is shown in table 2, wherein position triggering refers to triggering a corresponding event when the pilot enters a certain neighborhood of the position, the neighborhood is set to be a circle with a radius of 0.01m in the simulation, and the upper limit of simulation time is 80 s. The whole task is divided into two stages: in the first stage, the rotor unmanned aerial vehicle forms echelon formation from an initial non-formation static state, and keeps formation movement after formation until a formation switching triggering condition is met; and in the second stage, the rotary wing unmanned aerial vehicles are switched from the echelon formation in the motion state to the longitudinal formation in the motion state, and the formation motion is kept after the formation until the triggering condition is met after the task is finished. In order to verify the effect of the formation control method, particularly, formation switching is considered to be a complex situation, and the unmanned gyroplane below the old formation is located above a pilot after the formation is switched to the new formation. The control parameters were selected as shown in table 3. Rotary wing unmanned aerial vehicle formation cutting considering inter-aircraft collision avoidanceAnd (5) replacing task numerical simulation.
Table 1 initial state information of rotor unmanned aerial vehicle
TABLE 2 formation switching task information for rotor unmanned aerial vehicle
TABLE 3 control parameter settings
As shown in fig. 1, the rotary wing unmanned aerial vehicle formation control method based on spin repulsion performs a formation switching task, and specifically includes the following steps:
the method comprises the following steps: and inputting the state information, formation task information, algorithm parameter information and task constraint information of the rotor unmanned aerial vehicle. Rotor unmanned aerial vehicle state information, as shown in table 1, including speed, the acceleration state information of other rotor unmanned aerial vehicles in leader, self, communication neighborhood. The formation task information, as shown in table 2, includes formation configuration, task trigger condition, and communication neighborhood size. The algorithm parameter information is shown in table 3 and includes control parameters and threat domain partitions. The task constraint information comprises flight maneuver constraint and minimum safe distance constraint.
Step two: aiming at the problem of formation control of the rotor unmanned aerial vehicles, a rotor unmanned aerial vehicle dynamic model and a configuration control model are established, and a configuration control law is designed.
The second step is realized by the following concrete method:
the dynamic model of a rotorcraft is represented as a system of linear differential equations as shown in equation (1).
Wherein x is (x)x,xy,xz)TIndicating the position of the rotorcraft, xx、xy、xzRepresenting the components of the rotorcraft position in the x, y, and z axes, respectively, v ═ vx,vy,vz)TIndicating speed, v, of rotorcraftx、vy、vzRepresenting the components of the speed of the rotorcraft in the x, y, and z axes, respectively, u ═ u (u ═x,uy,uz)TRepresents the formation control quantity u of the rotor unmanned aerial vehiclex、uy、uzRespectively, the components of the formation control quantity of the rotor-wing unmanned aerial vehicle on x, y and z axes are represented, and the component means the expected acceleration of the rotor-wing unmanned aerial vehicle.
Aiming at the problem of formation control of the rotor unmanned aerial vehicles, a k-configuration control law of the rotor unmanned aerial vehicles is calculated, and the k-configuration control law is shown in formulas (16), (17) and (18).
lk＝xk-xl(16)
ufk＝2.25Δlk+3(vl-vk)+al(18)
Wherein lkRepresents the relative position of the rotor unmanned k and the leader, xkIndicating the position of rotor drone k, xlIndicating leader position,. DELTA.lkIndicating that the desired relative position of the rotorcraft k and the leader deviates from the actual relative position,
representing the desired relative position of the rotorcraft k and the leader, determined by the formation configuration, vlIndicating leader speed, vkDenotes rotor drone k speed, alIndicating the leader acceleration, ufkExpressing the k configuration control quantity and the k configuration control parameter of the rotor unmanned planep、kdRespectively 2.25 and 3.
Step three: aiming at the problem of formation control of the rotor unmanned aerial vehicles, calculating a k collision avoidance control law of the rotor unmanned aerial vehicles, as shown in formulas (19) and (20).
Wherein v isdcoknIndicating the desired speed of the gyroplane k in collision avoidance control, the collision avoidance control speed v of the gyroplanesetSet to 0.1m/s, the rotorcraft will make collision avoidance movements at this speed, the constant epsilon for preventing the appearance of singular values is taken to be 0.001, ucokRepresenting the collision avoidance control quantity of rotorcraft k.
Step four: and combining the configuration control law calculated in the step two with the collision avoidance control law calculated in the step three according to the configuration requirements and collision avoidance requirements in the formation task of the rotor unmanned aerial vehicle to form the piloting following formation control law of the rotor unmanned aerial vehicle based on the rotary repulsive field. Weighting a leader motion control law or a slave configuration control law and a collision avoidance control law based on a rotary repulsive field to obtain a k formation control law of the rotor unmanned aerial vehicle, as shown in formulas (21) and (22).
uk＝ugk+0.5ucokk＝1 (21)
uk＝ufk+0.5ucokk≠1 (22)
Step five: for a particular time tTAnd considering the formation control problem of the rotor unmanned aerial vehicles with collision avoidance constraints between the aircraft, at the current moment, the rotor unmanned aerial vehicle k obtains the state information of the rotor unmanned aerial vehicle k, the state information of the leader and the state information of all the rotor unmanned aerial vehicles in the communication neighborhood.
Step six: and judging whether the state information obtained in the step five meets task triggering conditions. If yes, executing step eleven; if not, continuing to execute the step seven.
Step seven: according to the current state information of the rotor unmanned aerial vehicle k and the current state information of the leader, calculating a configuration control law shown in a formula (18), and obtaining the configuration control quantity of the rotor unmanned aerial vehicle k at the current moment, as shown in a formula (23).
ufk,T＝2.25Δlk,T+3(vl,T-vk,T)+al,T(23)
Step eight: according to the current state information of the rotor unmanned aerial vehicle k and the state information of the rotor unmanned aerial vehicle in the communication neighborhood, the collision avoidance control law shown in the formulas (19) and (20) is calculated, and the collision avoidance control quantity of the rotor unmanned aerial vehicle k at the current moment is obtained.
Step nine: and (3) weighting the configuration control quantity and the collision avoidance control quantity to obtain the current formation control quantity of the rotor unmanned aerial vehicle k by utilizing the piloting following formation control law of the rotor unmanned aerial vehicle based on the rotary repulsive field shown in the formulas (21) and (22) to perform formation control on the rotor unmanned aerial vehicle k, and returning to the step five.
uk,T＝ugk,T+0.5ucok,Tk＝1 (26)
uk,T＝ufk,T+0.5ucok,Tk≠1 (27)
Step ten: and repeating the fifth step to the ninth step until the current formation task is completed, wherein the current formation task meets the collision avoidance constraint between machines, so that the formation control efficiency can be improved, and the problem that the formation is in a local deadlock state can be solved.
Step eleven: and according to the actual task needs, when a new queuing task exists, returning to the step one, triggering the next queuing task, and when no new queuing task exists, finishing the queuing task.
For the above specific example, the simulation trajectory result obtained by using the method for controlling formation of a rotary-wing unmanned aerial vehicle based on an optional exclusion field according to the present embodiment is shown in fig. 2. In fig. 2, a cross identification point is a set initial position of the rotor unmanned aerial vehicle, a star identification point is a target position of a leader, a dotted line from the initial position to the target position is a flight trajectory of the leader, a solid line is a flight trajectory of a slave, and a configuration of formation at certain specific moments of small points on the flight trajectory. As can be seen from fig. 2, the control of the formation by the method proposed in this embodiment can guide the switching of the rotary-wing drone from one formation configuration to another. Figure 3 shows a minimum pitch diagram for a rotorcraft during simulation. As can be seen from FIG. 3, the minimum distance between the rotor unmanned planes is greater than the minimum safe distance of 0.4m, and the collision avoidance constraint is met.
The trajectory results and the minimum pitch curves of the rotorcraft obtained by the formation control method based on the traditional artificial potential field are respectively shown in fig. 4 and 5. As can be seen from fig. 4 and 5, although the collision avoidance between the rotor drones can be ensured by the conventional method, the formation switching task is difficult to be completed quickly and efficiently due to the fact that the conventional method is in a local deadlock state in the formation switching process.
The formation switching time of the rotary wing unmanned aerial vehicle formation control method based on the rotary repulsion method is 25 s. The formation switching time of the formation control method based on the traditional artificial potential field is more than 30s, and the local deadlock state is not jumped out until the simulation is finished. Compared with the formation switching time obtained by the two formation control methods, the formation control method of the unmanned rotary wing aircraft based on the rotary repulsion method has the advantages that the control efficiency is higher, and the problem that the traditional method falls into a local deadlock state can be solved.
According to the simulation result and the analysis of the formation control example of the rotor unmanned aerial vehicle, the piloting following formation control method of the rotor unmanned aerial vehicle based on the rotary repulsive field can provide formation control quantity meeting formation tasks and collision avoidance constraints for the rotor unmanned aerial vehicle, and compared with the traditional method, the control result has higher control efficiency, and the problem that the formation is easy to fall into a local deadlock state in the traditional method is solved, so that the method has strong engineering practicability and can achieve the expected invention purpose.
The above detailed description is intended to provide further details of the purpose, technical solution and advantages of the present invention, and it should be understood that the above is only an example of the embodiment of the present invention, and is only for the purpose of explaining the present invention, and not for the purpose of limiting the scope of the present invention, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A piloting following formation control method of a rotor unmanned aerial vehicle based on a rotary repulsive field is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
the method comprises the following steps: inputting state information, formation task information, algorithm parameter information and task constraint information of the rotor unmanned aerial vehicle; the state information of the rotor unmanned aerial vehicle comprises the state information of the speed and the acceleration of the leader, the rotor unmanned aerial vehicle and other rotor unmanned aerial vehicles in the communication neighborhood; the formation task information comprises formation configuration, task triggering conditions and communication neighborhood size; the algorithm parameter information comprises control parameters and threat domain partitions; the task constraint information comprises flight maneuver constraint and minimum safe distance constraint;
step two: aiming at the problem of formation control of the rotor unmanned aerial vehicles, a rotor unmanned aerial vehicle dynamic model and a configuration control model are established, and a configuration control law is designed;
step three: aiming at the problem of formation control of the rotor unmanned aerial vehicles, threat domains are divided and collision avoidance control laws are designed;
step four: aiming at the configuration requirements and collision avoidance requirements in the formation task of the rotor unmanned aerial vehicle, combining the configuration control law designed in the step two with the collision avoidance control law designed in the step three to form a rotary repelling field-based piloting following formation control law of the rotor unmanned aerial vehicle;
step five: for time tTConsidering the problem of formation control of the rotor unmanned aerial vehicles with collision avoidance constraints between the aircraft, the rotor unmanned aerial vehicle i obtains self state information, pilot state information and state information of all the rotor unmanned aerial vehicles in a communication neighborhood at the current moment;
step six: judging whether the state information obtained in the step five meets task triggering conditions or not; if yes, executing step eleven; if not, continuing to execute the step seven;
step seven: calculating a configuration control law according to the current state information of the rotor unmanned aerial vehicle k and the current state information of the leader to obtain the configuration control quantity of the rotor unmanned aerial vehicle k at the current moment;
step eight: calculating a collision avoidance control law according to the current state information of the rotor unmanned aerial vehicle k and the state information of the rotor unmanned aerial vehicle in the communication neighborhood to obtain the collision avoidance control quantity of the rotor unmanned aerial vehicle k at the current moment;
step nine: utilizing a rotary wing unmanned aerial vehicle piloting following formation control law based on a rotary repulsive field, weighting the configuration control quantity and the collision avoidance control quantity to obtain the current formation control quantity of the rotary wing unmanned aerial vehicle k, and performing formation control on the rotary wing unmanned aerial vehicle k, and returning to the step five;
step ten: repeating the fifth step to the ninth step until the current formation task is completed, wherein the current formation task meets the collision avoidance constraint between machines, so that the formation control efficiency can be improved, and the problem that the formation is in a local deadlock state can be solved;
step eleven, according to the actual task requirements, when a new formation task exists, returning to the step I, triggering the next formation task, and when no new formation task exists, finishing the formation task.
2. The piloting following formation control method for rotary-wing unmanned aerial vehicles based on the rotating repulsive field according to claim 1, characterized in that: the concrete realization method of the step two is as follows,
the dynamic model of the rotorcraft is expressed as a system of linear differential equations as shown in equation (1);
wherein x is (x)x,xy,xz)TIndicating the position of the rotorcraft, xx、xy、xzRepresenting the components of the rotorcraft position in the x, y, and z axes, respectively, v ═ vx,vy,vz)TIndicating speed, v, of rotorcraftx、vy、vzRepresenting the components of the speed of the rotorcraft in the x, y, and z axes, respectively, u ═ u (u ═x,uy,uz)TRepresents the formation control quantity u of the rotor unmanned aerial vehiclex、uy、uzRespectively representing the components of the formation control quantity of the rotor unmanned aerial vehicle on x, y and z axes, wherein the component means the expected acceleration of the rotor unmanned aerial vehicle;
the ith slave machine is defined as a slave machine i, and the slave machine i is a rotor unmanned aerial vehicle i; the formation configuration control law of the rotor unmanned aerial vehicle i is as follows, and the control laws are respectively shown as formulas (2), (3) and (4);
li＝xi-xl(2)
ufi＝kpΔli+kd(vl-vi)+al(4)
wherein liIndicating the relative position of the slave i and the leader, xiIndicating the location of slave i, xlIndicating leader position,. DELTA.liIndicating the deviation of the expected relative position of the slave i and the leader from the actual relative position,
indicating the desired relative position of the slave i and the leader, determined by the formation configuration, vlIndicating leader speed, viIndicates the speed of the slave i, alIndicating the leader acceleration, ufiIndicates the configuration control amount, k, of the slave ip、kdThe parameters are controlled for configuration.
3. The piloting following formation control method for rotary-wing unmanned aerial vehicles based on the rotating repulsive field according to claim 2, characterized in that: the concrete realization method of the third step is as follows,
taking the rotor unmanned aerial vehicle m as an interloper, dividing a rotary repulsive field of the threat domain of the rotor unmanned aerial vehicle n, wherein the division result is shown in formulas (5) to (10);
lmn＝xm-xn(5)
vmn＝vm-vn(6)
dmn＝min(RThreat3,max(|lmn|,RThreat1)) (7)
wherein lmnRepresents the relative position of rotor unmanned plane m and rotor unmanned plane n, xmIndicating the position of the rotorcraft m, xnIndicating the n position of the rotorcraft, vmnThe difference value of the speed m of the rotor unmanned aerial vehicle and the speed n of the rotor unmanned aerial vehicle is represented, namely the relative speed of the rotor unmanned aerial vehicle m and the rotor unmanned aerial vehicle n; v. ofmIndicates m speed, v, of rotorcraftnIndicating n speed, d, of the rotorcraftmnIs to lmnTaking the result of the boundary, AmnRepresenting the magnitude of the rotating repulsive field, k, in the threat domainco1mnRepresenting the magnitude of the rotating field, kco2mnDenotes the magnitude of the repulsive field, Kco1，Kco2Respectively, the control parameters of the rotary repulsion action; rThreat1、RThreat2、RThreat3Partitioning into threat domains; when rotor unmanned aerial vehicle m apart from RThreat3When other rotor unmanned aerial vehicles exist in the range, the rotor unmanned aerial vehicle m is called an intruder, and the intruder is subjected to the action of a rotary repelling field; rThreat1、RThreat2For further division of the threat domain, when the distance between the intruder and the center of the field is RThreat3When the rotating force and the repulsive force are zero; when the intruder moves from the outer ring RThreat3When the depth is gradually increased, the rotating force and the repulsive force are gradually increased; when the distance between the intruder and the field center is RThreat1When the rotational force becomes maximum; when the intruder continues to go deep, the rotating force starts to decrease, and the repulsive force continues to increase; when the distance between the intruder and the field center is RThreat1When the rotating force is reduced to zero, the repulsive force reaches the maximum repulsive force; when the intruder continues to go deep, the field center generates the maximum repulsive force to the intruder;
the collision avoidance control law of formation of the rotor unmanned aerial vehicles m intruding into the n threat domains of the rotor unmanned aerial vehicles is shown as formulas (11) and (12);
wherein v isdcomnIndicating the desired speed, v, of rotorcraft m in collision avoidance controlsetIndicate that rotor unmanned aerial vehicle keeps away and hits control speed setting, rotor unmanned aerial vehicle will carry out collision avoidance motion with this speed, and epsilon is the constant that is used for preventing that singular value from appearing, ucomAnd (4) representing collision avoidance control quantity of the rotor unmanned aerial vehicle m.
4. The piloting following formation control method for rotary-wing unmanned aerial vehicles based on the rotating repulsive field according to claim 3, characterized in that: the concrete implementation method of the step four is as follows,
for the leader j, weighting the leader motion control law and the collision avoidance control law based on the rotary repulsive field to obtain a leader formation control law, wherein the formula is shown as (13);
ujl＝Kgugj+Kcolucoj(13)
wherein u isjlFormation control law, u, representing leader jgjTask control law representing leader j, task guide for the entire formation, ucojCollision avoidance control law, K, representing leader jg、KcolControlling the weight coefficient for the leader;
the slave machine is composed of a plurality of rotor unmanned aerial vehicles, the specific number of the slave machines is determined according to actual use requirements, and for the slave machine i, the slave machine configuration control law and the collision avoidance control law based on the rotary repulsive field are weighted to obtain the slave machine formation control law, as shown in a formula (14);
uif＝Kfufi+Kcofucoi(14)
wherein u isifRepresents the formation control law of the slave i, ufiRepresenting the configuration control quantity of the rotorcraft i, calculated by equations (2) to (4), for the guidance of the slave formation mission, ucoiRepresenting the law of collision avoidance control of slave i, Kf、KcofControlling the weight coefficient for the slave;
the piloting formation control law shown in the formula (13) and the slave formation control law shown in the formula (14) are piloting following formation control laws of the rotary wing unmanned aerial vehicle based on the rotary repulsive field.
5. The piloting following formation control method for rotary-wing unmanned aerial vehicles based on rotating repulsive fields according to claim 4, characterized in that: and the rotor unmanned aerial vehicle k is a rotor unmanned aerial vehicle in the slave machine i or the leader j.
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