CN112068598B - Unmanned aerial vehicle formation flying method and control system - Google Patents
Unmanned aerial vehicle formation flying method and control system Download PDFInfo
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Abstract
The invention provides a flight method and a control system for formation of unmanned aerial vehicles, which combine the formation of the unmanned aerial vehicles with obstacle avoidance flight, so that the formation of the unmanned aerial vehicles can keep a preset formation for flight when no obstacle exists, the formation can be carried out when the obstacle exists, the obstacle avoidance can be carried out, and the formation can be quickly recovered after the obstacle avoidance is finished; the obstacle avoidance flight control method can achieve collision avoidance on the premise of keeping the formation form unchanged, improves the formation flight safety, and can achieve cooperative high-efficiency control of the unmanned aerial vehicle cluster.
Description
Technical Field
The invention relates to the field of cooperative control of multiple unmanned aerial vehicles, in particular to a formation flight method and a control system of unmanned aerial vehicles.
Background
Because the endurance and the load capacity of a single unmanned aerial vehicle are weaker, the single unmanned aerial vehicle, especially a micro unmanned aerial vehicle, can face huge challenges when carrying out a complex flight task, and the reason why unmanned aerial vehicles are more and more emphasized when flying in formation is also the reason. However, if the unmanned aerial vehicle cannot avoid obstacles when the unmanned aerial vehicle is flying in formation, collision occurs, smooth completion of tasks is affected, and great influence is further caused on safety of the surrounding environment, so that the whole system has good obstacle avoidance control capability and is an important guarantee that the tasks can be completed efficiently and safely for unmanned aerial vehicle flying in formation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an unmanned aerial vehicle formation obstacle avoidance flight method and a control system.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle formation flying method comprises the following steps:
establishing a relative motion model of a leader and a bureaucratic plane in the formation of the unmanned aerial vehicles based on the single-machine dynamic motion model, and determining the flight formation of the unmanned aerial vehicles;
setting a saturation function of each wing plane, determining a pitching control quantity and a rolling control quantity of each unmanned plane when the unmanned plane flies according to the track by combining a single-machine dynamic motion model and the saturation function of each unmanned plane in a stable state according to a course expected value and a height expected value of each unmanned plane, and enabling the wing planes to fly in formation along with the pilot plane according to the expected height and course when the unmanned plane flies according to the route under the action of the pitching control quantity and the rolling control quantity;
reconstructing a single-machine dynamic motion model of the unmanned aerial vehicle in a stable state according to a set virtual function F1 of interaction between the unmanned aerial vehicle and a target position, a virtual function F2 of interaction between the unmanned aerial vehicles and an obstacle, and a virtual function F3 of interaction between the unmanned aerial vehicle and an obstacle;
when the unmanned aerial vehicles are formed into a formation to avoid the obstacle, the reconstructed single-machine dynamic motion model in the stable state outputs the pitching control quantity and the rolling control quantity when each unmanned aerial vehicle avoids the obstacle, and the unmanned aerial vehicles carry out obstacle avoidance flight according to the respective pitching control quantity and the respective rolling control quantity.
Preferably, a single-machine dynamic motion model is constructed by adopting an Euler-Lagrange method, and the expression is as follows:
wherein, tauψ、τθ、τφYaw, pitch and roll moments are respectively, u is total thrust, m is the mass of each quad-rotor unmanned aerial vehicle, and g is gravitational acceleration.
Preferably, the method for constructing the relative motion model comprises the following steps:
an inertial coordinate system taking the longplane as a reference is established, and a relative motion model of the longplane and the bureaucratic plane is established according to the coordinates of the longplane and the bureaucratic plane in the inertial coordinate system and the distance between the longplane and the bureratic plane in three directions (x, y, z) in the coordinate system of the bureratic plane and the bureratic plane.
Preferably, the relative kinematic relationship between a lead plane and a wing plane is as follows:
wherein (x)L,yL,zL) Is the coordinate of the long machine in the inertial coordinate system, (x)F,yF,zF) As a coordinate of each bureaucratic machine in the inertial frame, (Δ x)L,ΔyL,ΔzL) Is the distance between a tractor and a bureaucratic plane in three directions (x, y, z) in a coordinate system of the locomotive, T1(χL)、T2(γL) Is a coordinate transformation matrix.
Preferably, the method for forming a formation flight of the unmanned aerial vehicles at the desired altitude and heading by the air route specifically comprises the following steps:
determining an altitude control quantity and a course control quantity according to a relative motion model between the unmanned aerial vehicles and an altitude expected value and a course expected value of the unmanned aerial vehicles;
according to the height control quantity and the course control quantity, combining a saturation function and a single-machine dynamic motion model of the unmanned aerial vehicle in a stable state, and calculating to obtain a pitching control signal and a rolling control signal of each unmanned aerial vehicle;
and (3) enabling the unmanned aerial vehicle to fly at the expected height and heading according to the formation flying mode in the step (1) according to the heading control quantity, the altitude control quantity, the pitching control quantity and the rolling control quantity.
Preferably, the expression of the saturation function is as follows:
preferably, the expressions of the pitch control amount and the roll control amount are as follows:
preferably, the heading control amount and the altitude control amount are expressed as follows:
wherein k ispψ、kvψIs a control parameter of the heading control quantity, #iThe difference value between the azimuth angle required to be kept by the ith unmanned aerial vehicle and the actual azimuth angle is obtained;
wherein k ispz、kvzControl parameter, z, being a height control quantityiFor the difference between the expected height and the actual height of the ith unmanned aerial vehicle, m is the mass of each quad-rotor unmanned aerial vehicle, g is the acceleration of gravity, and thetaiIs the pitch angle of the ith unmanned aerial vehicle,
the roll angle of the ith unmanned aerial vehicle.
Preferably, the expressions of the virtual role function F1, the virtual role function F2 and the virtual role function F3 in step 3 are respectively as follows:
in the formula, xiiPosition of unmanned aerial vehicle of ith frame, xijIs the target position, LigIs the distance between the actual position and the desired position, LijIs the distance between the ith unmanned aerial vehicle and the jth unmanned aerial vehicle, ffAnd kfIs a self-defined parameter.
A control system of an unmanned aerial vehicle formation flying method comprises a formation module, a formation flying module and a formation obstacle avoidance module;
the formation module is used for constructing a relative motion model of a captain plane and a wing plane in the unmanned aerial vehicle formation based on the single-machine dynamic motion model, and determining the flight formation of the unmanned aerial vehicle;
the formation flying module is used for determining the pitching control quantity and the rolling control quantity of each unmanned aerial vehicle during normal flying by combining a single-machine dynamic motion model and a saturation function of each unmanned aerial vehicle under a stable state according to the heading expected value and the height expected value of each unmanned aerial vehicle, and enabling the unmanned aerial vehicles to fly according to flight formation at the expected height and heading according to the pitching control quantity and the rolling control quantity;
and the obstacle avoidance flight module is used for reconstructing a single-machine dynamic motion model in a stable state according to the virtual function of direct mutual influence among the unmanned aerial vehicle, the target position and the obstacle, and the reconstructed single-machine dynamic motion model outputs a pitching control signal and a rolling control signal when each unmanned aerial vehicle avoids the obstacle.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides an unmanned aerial vehicle formation flying method, which combines the formation shape keeping and obstacle avoidance flying of an unmanned aerial vehicle formation, so that the unmanned aerial vehicle formation can keep a preset formation shape for flying when no obstacle exists, and can be formed for obstacle avoidance when the obstacle exists, and the unmanned aerial vehicle formation flying method can quickly recover to an original air route after the obstacle avoidance is finished; the obstacle avoidance flight control method can achieve collision avoidance on the premise of keeping the formation form unchanged, improves the formation flight safety, and can achieve cooperative high-efficiency control of the unmanned aerial vehicle cluster.
Drawings
FIG. 1 is a flow chart of a method for controlling formation flight of unmanned aerial vehicles according to the present invention;
FIG. 2 is a single frame quad-rotor drone model of the present invention;
FIG. 3 shows the relative movement relationship of the two units according to the present invention;
FIG. 4 is a schematic diagram of the switch logic of the queuing controller of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the attached drawings, which are illustrative, but not limiting, of the present invention.
Referring to fig. 1, a method for forming a flying unmanned aerial vehicle comprises the following steps:
step 1, defining a generalized coordinate system of the quad-rotor unmanned aerial vehicle according to a generalized coordinate theory on mathematics.
Specifically, referring to fig. 2, assuming that each unmanned aerial vehicle in the formation keeps flying according to the set speed, pitch angle and yaw angle under the action of the speed keeping controller, pitch angle keeping controller and yaw angle keeping controller in a state of not affecting each other, a generalized coordinate system of the quad-rotor unmanned aerial vehicle is defined as follows:
q＝(x,y,z,φ,θ,ψ)∈R6
wherein, (x, y, z) is the position of the centroid of the quad-rotor unmanned aerial vehicle relative to the inertial coordinate system I; (phi, theta, psi) are euler angles describing the attitude of the quad-rotor drone, respectively roll, pitch and yaw.
Step 2, on the basis of the generalized coordinate system of the quad-rotor unmanned aerial vehicle constructed in the step 1, constructing a single-machine dynamic motion model of each unmanned aerial vehicle in the unmanned aerial vehicle formation system by adopting an Euler-Lagrange method:
wherein the inertial terms are yaw, pitch and roll moments (τ, respectively)ψ、τθ、τφ) The method is characterized in that u is total thrust, m is the mass of each four-rotor unmanned aerial vehicle, and g is gravity acceleration.
And 3, constructing a relative motion model of a leader and a wing plane in the unmanned aerial vehicle formation based on the single-machine dynamic motion model, and determining the flight formation of the unmanned aerial vehicles.
Specifically, referring to fig. 3, an inertial coordinate system with the long plane as a reference is established, and a formula of the relative motion relationship between the long plane and the wing plane is constructed according to the coordinates of the long plane, the coordinates of the wing plane, and the distance between the long plane and the wing plane in three directions (x, y, z) in the inertial coordinate system.
The relative motion relationship of a guano and a bureaucratic is as follows:
wherein (x)L,yL,zL) Is the coordinate of the long machine in the inertial coordinate system, (x)F,yF,zF) As a coordinate of each bureaucratic machine in the inertial frame, (Δ x)L,ΔyL,ΔzL) Is the distance between a tractor and a bureaucratic plane in three directions (x, y, z) in a coordinate system of the locomotive, T1(χL)、T2(γL) For coordinate transformation matrices, T1(χL)、T2(γL) The form of (A) is as follows:
wherein, χLAnd gammaLDivided into angles of a long plane and a bureaucratic plane in the x direction.
Step 4, setting a saturation function of each wing plane, obtaining a pitching control quantity and a rolling control quantity of each unmanned aerial vehicle during normal flight by combining the saturation function and a single-machine dynamic motion model of the unmanned aerial vehicle in a stable state according to a course expected value and a height expected value of each unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly in a flight formation set up in the step 3 at an expected height and course in a normal flight state according to the pitching control quantity and the rolling control quantity and the course control quantity of the unmanned aerial vehicle, wherein the specific steps are as follows:
s4.1, assuming that t at any moment is greater than 0, the sideslip angle is 0, determining azimuth angle information required to be kept by each unmanned aerial vehicle in the formation flying process according to the relative motion model between the unmanned aerial vehicles in the step 3, and further obtaining course control quantity according to the difference value between the azimuth angle information required to be kept by each unmanned aerial vehicle and actual azimuth angle information as follows:
wherein k ispψ、kvψIs a control parameter of the heading control quantity, #iFor the difference between the azimuth angle that ith unmanned aerial vehicle needs to keep and the actual azimuth angle, under the effect of direction of navigation controlled variable, every unmanned aerial vehicle in the unmanned aerial vehicle formation will fly according to the azimuth angle that needs to keep.
S4.2, obtaining real-time altitude information of each airplane at the time t, and calculating the altitude control quantity u of each airplane at the time t according to the difference between the actual altitude and the expected altitude of the current airplaneiAccording to the height control quantity uiControlling each unmanned aerial vehicle to fly at a desired height uiThe calculation method of (c) is as follows:
wherein k ispz、kvzControl parameter, z, being a height control quantityiFor the difference between the expected height and the actual height of the ith unmanned aerial vehicle, m is the mass of each quad-rotor unmanned aerial vehicle, g is the acceleration of gravity, and thetaiIs the pitch angle of the ith unmanned aerial vehicle,
the roll angle of the ith unmanned aerial vehicle.
S4.3, after flying for a period of time, the height and the course of the unmanned aerial vehicles in the formation are basically stable, and at the moment, the parameters
Approach to 0, then unmanned aerial vehicleThe model of the single machine dynamic motion in the steady state is as follows:
deducing and simplifying the single-machine dynamic model to obtain a single-machine dynamic motion model after the simplification of the ith unmanned aerial vehicle, wherein the expression is as follows:
in the formula:
and:
s4.4, defining according to the mathematical saturation function, and setting the expression of the saturation function as follows:
and S4.5, according to the height expected value and the course expected value of each unmanned aerial vehicle, combining the simplified single-machine dynamic motion model and the saturation function of the unmanned aerial vehicle, and calculating to obtain the pitching control quantity and the rolling control quantity of each unmanned aerial vehicle.
The pitch control amount and the roll control amount are calculated by the following formula:
wherein σb1,σb2,σb3,σb4For each wing plane a saturation function for four channels (throttle channel, roll channel, pitch channel and yaw channel), k1、k2、k3、k4For four control parameters, z1ix,z2ix,z3ix,z4ixFor each drone, z is the projection in the x direction of the difference between the current aircraft actual altitude and the desired altitude1iy,z2iy,z3iy,z4iyAnd projecting the difference between the actual height and the expected height of the current airplane of each unmanned plane in the y direction.
And S4.6, enabling the unmanned aerial vehicle to fly at the expected height and heading according to the formation flying mode in the step 3 according to the heading control quantity, the altitude control quantity, the pitching control quantity and the rolling control quantity.
And 5, setting a virtual function F1 of interaction between the unmanned aerial vehicle and the target position, setting a virtual function F2 of interaction between the unmanned aerial vehicles, and setting a virtual function F3 of interaction between the unmanned aerial vehicle and the obstacle.
According to the virtual function F1, the virtual function F2 and the virtual function F3, a simplified single-machine dynamic model of each unmanned aerial vehicle is reconstructed, when the unmanned aerial vehicles are formed to avoid the obstacle, the reconstructed single-machine dynamic motion model outputs a pitching control signal and a rolling control signal when each unmanned aerial vehicle avoids the obstacle, and the unmanned aerial vehicles carry out obstacle avoidance flight according to the respective pitching control signal and rolling control signal.
The expression of the virtual function of interaction F1 between the drone and the target position is:
in the formula, xiiPosition of unmanned aerial vehicle of ith frame, xijIs the target position, LigIs the distance between the actual position and the desired position, LijIs the distance between the ith unmanned aerial vehicle and the jth unmanned aerial vehicle, ffAnd kfIs a self-defined parameter.
The expression of the virtual function F2 of the interaction between drones is:
the expression of the virtual function of interaction F3 between drone and obstacle is:
in the formula, b1A minimum boundary for nested saturation control;
the distance between the center of mass of the unmanned aerial vehicle and the nearest boundary of the obstacle k is obtained;
is the location of the obstacle.
After the virtual function F1, the virtual function F2 and the virtual function F3 are added, the system model of the unmanned aerial vehicle is as follows:
and (3) when the formation obstacle avoidance operation is carried out, combining the formation keeping control designed in the step (4), and designing an unmanned aerial vehicle formation obstacle avoidance controller, wherein the expressions of the pitching control quantity and the rolling control quantity of each unmanned aerial vehicle are as follows:
wherein σb1,σb2,σb3,σb4For each wing plane a saturation function for four channels (throttle channel, roll channel, pitch channel and yaw channel), k1、k2、k3、k4For four control parameters, z1ix,z2ix,z3ix,z4ixFor each drone, z is the projection in the x direction of the difference between the current aircraft actual altitude and the desired altitude1iy,z2iy,z3iy,z4iyAnd projecting the difference between the actual height and the expected height of the current airplane of each unmanned plane in the y direction.
And 6, constructing control weight of the flight mode, and enabling the unmanned aerial vehicle to carry out formation flight in the step 4 or carry out obstacle avoidance flight in the step 5 according to the control weight.
Specifically, the formula of the control weight of the flight mode is as follows:
wherein q is1The specific weight of the obstacle avoidance flight module is represented, l represents the minimum distance between all airplanes in the formation and the obstacle, and the distance is measured by a distance sensor; l represents the gradient of change in the minimum distance of all the airplanes in the formation from the obstacle, the trend of change in the reaction distance, l0And indicating the obstacle avoidance safe distance. The formula reflects that obstacle avoidance flight is carried out when the minimum distance between all airplanes in the formation and the obstacle is smaller than the obstacle avoidance safety distance. And when the minimum distance between all the airplanes in the formation and the obstacle is greater than the obstacle avoidance safety distance, stopping obstacle avoidance flying and adopting the formation flying.
Referring to fig. 4, in order to enable the formation to recover to the original air route more quickly after obstacle avoidance is completed, when the formation of the unmanned aerial vehicles starts to be far away from the obstacle or no obstacle exists in the front of the formation of the unmanned aerial vehicles, the formation of the unmanned aerial vehicles executes step 4, namely, the unmanned aerial vehicles fly according to the formation; when the unmanned aerial vehicle detects the obstacle, the unmanned aerial vehicle formation executes step 5, namely the unmanned aerial vehicle executes obstacle avoidance operation.
The invention provides an unmanned aerial vehicle formation flying method, which combines the formation shape keeping and obstacle avoidance flying of an unmanned aerial vehicle formation, so that the unmanned aerial vehicle formation can keep a preset formation shape for flying when no obstacle exists, and can be formed for obstacle avoidance when the obstacle exists, and the unmanned aerial vehicle formation flying method can quickly recover to an original air route after the obstacle avoidance is finished; the obstacle avoidance flight control method can achieve collision avoidance on the premise that formation is kept unchanged, improves formation flight safety, and can achieve cooperative efficient control of unmanned aerial vehicle clusters.
The unmanned aerial vehicle formation obstacle avoidance flight control method can avoid the problems of parameter drift and system instability caused by micro interconnection relationship among unmanned aerial vehicles; the unmanned aerial vehicle formation flight control method avoids control lag influence in design, and solves speed, pitch angle and yaw angle control instructions through position triaxial components instead of changing speed instructions, pitch angle instructions and yaw angle instructions through applying control force.
The invention also provides a control system of the unmanned aerial vehicle formation flying method, which comprises a single-machine dynamic motion module, a formation flying module, a formation obstacle avoiding module and a formation switching module.
And the single-machine dynamic motion module is used for constructing a single-machine dynamic motion model of each unmanned aerial vehicle in the unmanned aerial vehicle formation system by adopting an Euler-Lagrange method.
And the formation module is used for constructing a relative motion model of a long plane and a wing plane in the unmanned aerial vehicle formation based on the single-machine dynamic motion model, and determining the formation flight mode of the unmanned aerial vehicle.
And the formation flying module is used for determining the course control quantity, the pitching control quantity and the rolling control quantity of each unmanned aerial vehicle during normal flying by combining a relative motion model between the unmanned aerial vehicles and a saturation function of each wing plane according to the course expected value and the height expected value of each unmanned aerial vehicle, and enabling the unmanned aerial vehicles to fly according to the formation flying mode in the normal flying state according to the course control quantity, the pitching control quantity and the rolling control quantity.
Obstacle avoidance flight module, which is used for storing a virtual function F1 of interaction between a preset unmanned aerial vehicle and a target position, a virtual function F2 of interaction between unmanned aerial vehicles, and a virtual function F3 of interaction between the unmanned aerial vehicle and an obstacle, and reconstructing a simplified system model of each unmanned aerial vehicle according to the virtual function F1, the virtual function F2 and the virtual function F3, outputting a pitching control signal and a rolling control signal when each unmanned aerial vehicle avoids the obstacle by the modified system model, and enabling the unmanned aerial vehicles to carry out obstacle avoidance flight according to the respective pitching control signal and the rolling control signal.
And the formation switching module is used for enabling the unmanned aerial vehicle to execute the formation flying module or the obstacle avoidance flying module according to the control weight.
The formation switching module switches a formation flight mode of the unmanned aerial vehicle according to whether an obstacle exists on a flight path or not, so that the unmanned aerial vehicle is made to fly in a normal mode or in an obstacle avoidance mode, the switching logic of the flight module relates to the control weight of the obstacle avoidance flight module, the participation degree of the module is reflected by the control weight of the obstacle avoidance flight module, the control weight is 0 to indicate that the module is not started, and the control weight is 1 to indicate that the module is completely started.
In order to enable the formation to recover to the original air route more quickly after obstacle avoidance is completed, the formation switching module is used for controlling the flight mode of the formation of the unmanned aerial vehicles, when the formation of the unmanned aerial vehicles starts to be far away from the obstacles or no obstacle exists in the front, the obstacle avoidance flight module is closed, the formation control authority of the unmanned aerial vehicles is completely handed over to the formation flight module, the formation switching module is used for judging whether the unmanned aerial vehicles complete obstacle avoidance, and the control weights of the obstacle avoidance flight module and the obstacle avoidance flight module are distributed according to the judgment result, so that formation can be recovered more quickly.
The invention establishes an unmanned aerial vehicle formation obstacle avoidance flight method, a takeoff instruction is sent to unmanned aerial vehicles in advance through a ground station, all unmanned aerial vehicles finish formation aggregation according to flight paths and task plans set by the ground station after takeoff, and the unmanned aerial vehicles continue to fly before formation after aggregation is finished. In the flight process, each unmanned aerial vehicle utilizes the unmanned aerial vehicle formation flight control system of self, estimates and feeds back self state information to the ground control station in real time, the ground control station shares the information of each aircraft after receiving the information of each aircraft, and the whole unmanned aerial vehicle formation flight control system controls all unmanned aerial vehicles to keep flying before the formation on the basis of the shared information, and can form and avoid the barrier when meeting the barrier, and resume the formation rapidly after avoiding the barrier and accomplishing.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. An unmanned aerial vehicle formation flying method is characterized by comprising the following steps:
establishing a relative motion model of a leader and a bureaucratic plane in the formation of the unmanned aerial vehicles based on the single-machine dynamic motion model, and determining the flight formation of the unmanned aerial vehicles;
setting a saturation function of each wing plane, determining a pitching control quantity and a rolling control quantity of each unmanned plane when the unmanned plane flies according to the track by combining a single-machine dynamic motion model and the saturation function of each unmanned plane in a stable state according to a course expected value and a height expected value of each unmanned plane, and enabling the wing planes to fly in formation along with the pilot plane according to the expected height and course when the unmanned plane flies according to the route under the action of the pitching control quantity and the rolling control quantity;
reconstructing a single-machine dynamic motion model of the unmanned aerial vehicle in a stable state according to a set virtual function F1 of interaction between the unmanned aerial vehicle and a target position, a virtual function F2 of interaction between the unmanned aerial vehicles and an obstacle, and a virtual function F3 of interaction between the unmanned aerial vehicle and an obstacle;
the expressions of the virtual role function F1, the virtual role function F2, and the virtual role function F3 are as follows:
in the formula, xiiPosition of unmanned aerial vehicle of ith frame, xijIs the target position, LigIs the distance between the actual position and the desired position, LijIs the distance between the ith unmanned aerial vehicle and the jth unmanned aerial vehicle, ffAnd kfThe parameters are self-defined;
when the unmanned aerial vehicles are formed into a formation to avoid the obstacle, the reconstructed single-machine dynamic motion model in the stable state outputs the pitching control quantity and the rolling control quantity when each unmanned aerial vehicle avoids the obstacle, and the unmanned aerial vehicles carry out obstacle avoidance flight according to the respective pitching control quantity and the respective rolling control quantity.
2. The unmanned aerial vehicle formation flying method of claim 1, wherein an Euler-Lagrange method is adopted to construct a single-machine dynamic motion model, and the expression is as follows:
wherein, tauψ、τθ、τφYaw, pitch and roll moments are respectively, u is total thrust, m is the mass of each quad-rotor unmanned aerial vehicle, and g is gravitational acceleration.
3. The method of claim 1, wherein the relative motion model is constructed as follows:
an inertial coordinate system taking the longplane as a reference is established, and a relative motion model of the longplane and the bureaucratic plane is established according to the coordinates of the longplane and the bureaucratic plane in the inertial coordinate system and the distance between the longplane and the bureratic plane in three directions (x, y, z) in the coordinate system of the bureratic plane and the bureratic plane.
4. A method for the formation of flying unmanned aerial vehicles according to claim 3, wherein the relative kinematic relationship between the chairman and the bureaucratic aircraft is:
wherein (x)L,yL,zL) Is the coordinate of the long machine in the inertial coordinate system, (x)F,yF,zF) As a coordinate of each bureaucratic machine in the inertial frame, (Δ x)L,ΔyL,ΔzL) Is the distance between a tractor and a bureaucratic plane in three directions (x, y, z) in a coordinate system of the locomotive, T1(χL)、T2(γL) Is a coordinate transformation matrix.
5. The method for formation flying of unmanned aerial vehicles according to claim 1 or 4, wherein the method for formation flying of unmanned aerial vehicles at a desired altitude and heading by route is as follows:
determining an altitude control quantity and a course control quantity according to a relative motion model between the unmanned aerial vehicles and an altitude expected value and a course expected value of the unmanned aerial vehicles;
according to the height control quantity and the course control quantity, combining a saturation function and a single-machine dynamic motion model of the unmanned aerial vehicle in a stable state, and calculating to obtain a pitching control signal and a rolling control signal of each unmanned aerial vehicle;
and (3) enabling the unmanned aerial vehicle to fly at the expected height and heading according to the formation flying mode in the step (1) according to the heading control quantity, the altitude control quantity, the pitching control quantity and the rolling control quantity.
6. The method of claim 5, wherein the saturation function is expressed as follows:
7. the method of claim 5, wherein the pitch control quantity and the roll control quantity are expressed as follows:
8. the method of claim 5, wherein the heading control quantity and the altitude control quantity are expressed as follows:
wherein k ispψ、kvψIs a control parameter of the heading control quantity, #iThe difference value between the azimuth angle required to be kept by the ith unmanned aerial vehicle and the actual azimuth angle is obtained;
wherein k ispz、kvzControl parameter, z, being a height control quantityiFor the difference between the expected height and the actual height of the ith unmanned aerial vehicle, m is the mass of each quad-rotor unmanned aerial vehicle, g is the acceleration of gravity, and thetaiIs the pitch angle of the ith unmanned aerial vehicle,
the roll angle of the ith unmanned aerial vehicle.
9. A control system of a formation flight method for unmanned aerial vehicles according to any one of claims 1 to 8, comprising a formation module, a formation flight module and a formation obstacle avoidance module;
the formation module is used for constructing a relative motion model of a captain plane and a wing plane in the unmanned aerial vehicle formation based on the single-machine dynamic motion model, and determining the flight formation of the unmanned aerial vehicle;
the formation flying module is used for determining the pitching control quantity and the rolling control quantity of each unmanned aerial vehicle during normal flying by combining a single-machine dynamic motion model and a saturation function of each unmanned aerial vehicle under a stable state according to the heading expected value and the height expected value of each unmanned aerial vehicle, and enabling the unmanned aerial vehicles to fly according to flight formation at the expected height and heading according to the pitching control quantity and the rolling control quantity;
and the obstacle avoidance flight module is used for reconstructing a single-machine dynamic motion model in a stable state according to the virtual function of direct mutual influence among the unmanned aerial vehicle, the target position and the obstacle, and the reconstructed single-machine dynamic motion model outputs a pitching control signal and a rolling control signal when each unmanned aerial vehicle avoids the obstacle.
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| CN115599127B (en) * | 2022-12-16 | 2023-03-21 | 西北工业大学 | Unmanned aerial vehicle formation obstacle avoidance control method based on laser radar |
| CN116243729B (en) * | 2023-05-11 | 2023-08-18 | 四川腾盾科技有限公司 | Phase collaborative planning method based on fixed wing cluster unmanned aerial vehicle online grouping |
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