CN115542943A - Unmanned aerial vehicle formation maintaining control method based on active disturbance rejection controller - Google Patents
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Abstract
The invention relates to an unmanned aerial vehicle formation maintaining control method based on an active disturbance rejection controller, and belongs to the field of unmanned aerial vehicles. The invention relates to a formation maneuvering instruction module and a formation interval instruction module which are respectively responsible for sending a ground station leader control instruction and a formation interval instruction, a pilot model is used for receiving the control instruction and controlling the running state of an unmanned aerial vehicle, a formation kinematics model is used for calculating the interval distance state between a captain and a wing plane in real time, an ADRC controller receives formation interval instruction signals, integrates interval feedback results and outputs control signals of the wing plane, thereby ensuring the maintenance of formation. The invention designs a formation maintaining control flow based on 'captain-bureau' formation, which can dynamically estimate and feedback compensate the interference inside and outside the system, realize the real-time accurate follow-up of bureau to captain, and ensure the stability of system control.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle formation keeping control method based on an active disturbance rejection controller.
Background
The formation of the unmanned aerial vehicles refers to a certain formation arrangement organization mode formed by two or more unmanned aerial vehicles according to certain specific task requirements, and is used for realizing complex tasks such as cooperative reconnaissance, defense and attack. The main important practical significance of the formation control of the unmanned aerial vehicles. The existing unmanned aerial vehicle formation control strategy mainly comprises 'Changji-Liquan' formation control, virtual structure formation control, formation control based on behaviors and formation control based on multiple intelligent agents. The formation control of "Changji-Liao plane" mainly uses one airplane as Changji and the other followers as Liao planes, and designs the corresponding formation controller by analyzing the equation of relative kinematics. The formation of the virtual structure usually takes a ground station as a virtual long machine, and the formation control is realized by real-time communication with all unmanned aerial vehicles. The behavior-based formation needs to set the behavior category of the unmanned aerial vehicle in advance, establish a mathematical model according to the behavior category, and then perform weight optimization on a control algorithm according to actual needs, so as to control a specific motion state. Multi-agent based formation control requires that each drone be abstracted into agents, making decisions by communicating with the external environment, with other agents.
With the increasing requirements on complexity, safety and efficiency of tasks executed by unmanned aerial vehicle formation, the unmanned aerial vehicle formation has higher requirements on performances such as performance, stability and robustness of flight formation. In the actual engineering, the communication results of the ground station and all unmanned aerial vehicles need to be calculated in real time in consideration of virtual structure formation control, a large amount of calculation data and communication resources need to be consumed in the actual engineering, and the engineering implementation difficulty is high; the behavior-based formation control generally defines the formation type as the types of formation keeping, obstacle avoidance, target tracking and the like, and the establishment of a mathematical model according to different types of behaviors is difficult, and the behaviors have uncertainty, so that the implementation is difficult; formation control based on multiple agents needs to simulate a similar function model to approach interference, and the difficulty of system design is increased. The invention is based on a common 'Changji-Liquan' formation control strategy, wherein a pilot is used as the leading factor of the whole formation, a formation style needs to be preset, and the behavior of the whole formation can be controlled only according to a given motion track, thereby greatly simplifying the control action.
Aiming at a formation control strategy under a complex environment, part of scholars adopt a PID controller to carry out unmanned aerial vehicle formation control design, however, under the condition that random disturbance exists in the complex environment, PID control is mainly based on linear combination of proportion, integral and differential of errors, when the pose of an unmanned aerial vehicle in the air is greatly changed, the control performance of the unmanned aerial vehicle is reduced, the optimal control effect cannot be achieved, and the differential of an error signal is easy to cause noise amplification and signal distortion, so that the system overshoot is caused. In the aspect of designing an anti-interference controller, an active anti-interference controller (ADRC) based on professor Hanjingqing has been widely verified in the field of single-frame quad-rotor unmanned aerial vehicle control, and can have strong adaptability, robustness and anti-interference performance to pose change. Therefore, the unmanned aerial vehicle formation control system based on the active disturbance rejection controller is designed, and the practical value is higher.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problem of how to provide a method for maintaining and controlling the formation of unmanned aerial vehicles based on an active disturbance rejection controller, comprehensively utilize the anti-interference characteristic of ADRC and design a formation control strategy based on distance intervals so as to solve the problems of easy system overshoot and poor adaptability caused by the traditional PID control in a complex environment.
(II) technical scheme
In order to solve the technical problem, the invention provides an unmanned aerial vehicle formation maintaining control method based on an active disturbance rejection controller, which comprises the following steps:
s1, the ground command center issues a formation maneuvering command to the long machine, and the specific command content comprises the expected speed V of the long machine lc Heading psi lc And a height z lc ；
S2, after receiving the instruction, the long-distance computer makes a corresponding response according to the driver model and feeds back state parameters of the long-distance computer in real time through a sensor: velocity V l Heading psi l And a height z l (ii) a Wherein, the unmanned aerial vehicle navigating instrument model that long plane and wing plane correspond is the same, and the state model that corresponds as follows:
wherein i = l, w respectively represent a longicorn and a bureaucratic, τ v 、τ ψ 、τ z1 And τ z2 Respectively time constants for controlling speed, course and altitude,
to correspond to the velocity V i Of the first-order state values of (a),
for corresponding course angle psi i Is determined by the first-order state value of (c),
to correspond to a height z i Is determined by the first-order state value of (c),
to a corresponding height z i A second order state value of;
step S3, monitoring the state parameters of a wing plane in real time by a sensor: velocity V w Heading psi w And a height z w And synchronously inputting the state parameters of the long machine and the state parameters of the long machine into a formation kinematics model to form a complete feedback loop, and outputting the interval feedback distance d by the formation kinematics model through operation x 、d y And d z ；
S4, the ADRC controller receives a formation interval command d sent by a ground command center xc 、d yc And d zc And the interval feedback distance d of the formation kinematic model output x 、d y And d z A control command V of a wing plane is output through control operation wc Heading psi wc And a height z wc To bureaucratic machines.
(III) advantageous effects
The invention provides an unmanned aerial vehicle formation keeping control method based on an active disturbance rejection controller, and designs a formation keeping control process based on 'changable-wing aircraft' formation.
The invention provides a formation control strategy based on ADRC, a TD tracking differentiator in the ADRC controls the input state of a tracking system which can be stable in real time, ESO can also estimate the total disturbance of the system in real time, the internal and external disturbance of the system is compensated, finally, a control signal is output to a wing plane through NLSEF nonlinear combination, the real-time accurate following of the wing plane to a leader plane is realized, and the stability of the system control is guaranteed.
Drawings
FIG. 1 is a flow chart of the formation control of the present invention;
FIG. 2 is a diagram of unmanned aerial vehicle formation geometry;
fig. 3 is a diagram illustrating an internal structure of the ADRC controller according to the present invention.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
For the robustness and the adaptability of promoting unmanned aerial vehicle formation control, satisfy the rapidity and the stability requirement of formation regulation under the complex environment condition, this patent designs an unmanned aerial vehicle formation control method based on active disturbance rejection controller, aims at reaching following mesh:
(1) Compared with the traditional control mode, the control of the formation does not need real-time communication between the fans and the wing machines, and the control method is characterized in that a motor command of the fans and a formation interval command are issued in advance and converted into a control command to be issued to the wing machines through a formation controller, so that the formation is maintained.
(2) The formation control strategy based on the ADRC is provided, the control based on the ADRC not only can stably track the state of the system in real time, but also can compensate the interference inside and outside the system, the real-time accurate following of a wing plane to a lead plane is realized, and the stability of the system control is guaranteed.
The invention provides an ADRC-based unmanned aerial vehicle formation form keeping control method, which considers that the actual unmanned aerial vehicle formation is easily influenced by climate, wind power and internal and external interference, and the controller regards the internal and external interference of the system as total disturbance, compensates nonlinear tracking through real-time estimation of the disturbance, and selects proper parameters to realize tracking control of the system. The problems of multi-machine cooperation, high efficiency coordination and stable formation state maintenance in a 'long-machine-bureaucratic-machine' formation control mode are solved. The flow chart of the concrete formation controller is shown in fig. 1, and the control system comprises a formation maneuvering command module, a formation interval command module, a pilot driver model, a formation kinematics model, an ADRC controller and a wing pilot model.
The formation motor command module is responsible for sending a control command of a ground station leader to a leader driver model, the formation interval command module is responsible for sending a formation interval command to an ADRC controller, the leader driver model and a wing driver model are used for receiving the control command and controlling the running state of the unmanned aerial vehicle, the formation kinematics model is used for receiving state parameters of the leader and the wing, the interval distance state between the leader and the wing is calculated in real time, and the ADRC controller receives the formation interval command and outputs the control command of the wing in combination with the interval distance state between the leader and the wing, thereby ensuring the maintenance of formation. The specific process is as follows:
s1, the ground command center issues a formation maneuvering command to the long machine, and the specific command content comprises the expected speed V of the long machine lc Heading psi lc And a height z lc 。
S2, after receiving the instruction, the long-distance computer makes a corresponding response according to the driver model and feeds back state parameters of the long-distance computer in real time through a sensor: velocity V l Heading psi l And a height z l . Wherein, the unmanned aerial vehicle navigating instrument model that long plane and wing plane correspond is the same, and the state model that corresponds as follows:
wherein i = l, w respectively represent a lengthWing and wing aircraft, tau v 、τ ψ 、τ z1 And τ z2 Respectively time constants for controlling speed, course and altitude,
for the first order state value corresponding to the velocity V,
for corresponding course angle psi i Of the first-order state values of (a),
to a corresponding height z i Is determined by the first-order state value of (c),
to a corresponding height z i The second order state value of (c).
Step S3, monitoring the state parameters of a wing plane in real time by a sensor: velocity V w Heading psi w And a height z w And synchronously inputting the state parameters of the long machine and the state parameters of the long machine into a formation kinematics model to form a complete feedback loop, and outputting the interval feedback distance d by the formation kinematics model through operation x 、d y And d z . The unmanned aerial vehicle formation kinematics model solving method comprises the following steps:
step S3.1, taking as an example the "longplane-bureaucratic" model, establishes a formation geometric relationship diagram. And selecting a ground coordinate system as a reference, wherein XOY is a ground horizontal plane coordinate system, and the Z axis is vertical to the horizontal plane direction. As shown in fig. 2.
Corresponding to a coordinate of X on a long machine l 、Y l With a corresponding bureaucratic coordinate of X w 、Y w The distance between the two is d x 、d y The yaw angles of tractor and wing aircraft are psi l 、ψ w The velocities of the tractor-trailer and the wing tractor are V respectively l 、V w 。
Step S3.2 first derivatives of the positions of the long and bureaucratic planes, according to the above-mentioned geometric relationship of formation of unmanned aerial vehicles
The following equation is satisfied:
step S3.3 from the formation geometry, the correspondence between coordinates can be found as follows:
taking the derivative of the above equation and substituting it into equation (2) yields:
based on the movement of the model in the XOY plane, corresponding to the distance d in the Z-axis direction z Is Z l -Z w In summary, the kinematic state model obtained after the solution is:
wherein the content of the first and second substances,
and
are respectively d x 、d y And d z To the first order state value.
S4, the ADRC controller receives a formation interval command d sent by the ground command center xc 、d yc And d zc And the interval feedback distance d of the formation kinematic model output x 、d y And d z Outputting control command V of wing plane through control operation wc Heading psi wc And a height z wc The concrete internal structure of the bureaucratic plane is shown in fig. 3.
The ADRC controller mainly comprises a TD tracking differentiator, an ESO extended state observer and an NLSEF nonlinear controller.
The TD tracking differentiator receives the command v of the formation interval and outputs a variable v 1 To track input queue interval instructions v, output variables v 2 To track the differential value of the input command v;
the ESO extended state observer outputs a variable z according to the state feedback of the spacing distance between the long plane and the wing plane and the control instruction feedback of the wing plane 1 To estimate the separation distance feedback result d 1 Output variable z 2 To estimate the separation distance feedback result d 1 Differential value of, output variable z 3 For estimating the total disturbance of the system in real time;
NLSEF nonlinear controller according to v 1 、z 1 Difference of (v) 2 、z 2 A difference value of (d), outputting a control signal u 0 And then a disturbance signal z output by an ESO extended state observer 3 Dynamic compensation is carried out to form a control command u of a wing plane.
The detailed design of each part is as follows:
step S4.1 TD tracking differentiator design
And designing a second-order error differentiator, and arranging a smooth transition process by an error extraction method. Setting an output variable v 1 To track incoming queue interval instructions v, where v corresponds to a queue interval instruction
Variable v 2 The differential value of the input command v is tracked, the state of the system can be tracked in time through the differential signal, and the overshoot of the control system is avoided. In order to relieve the high-frequency tremor problem, a steepest control comprehensive function fhan (x) is introduced 1 ,x 2 ,r,h):
The TD tracking differentiator is specifically designed as follows:
wherein r and h are function adjustable parameters, r is used for controlling the tracking speed, and h is used for controlling the sampling step length.
Step S4.2 ESO extended state observer design
The state observer is used for observing the disturbance inside and outside the model, receiving the feedback result of interval distance and the control command u of wing plane output by the formation kinematics model in real time, and obtaining the output state variable z through calculation 1 、z 2 And z 3 . Setting the output variable z 1 To estimate the separation distance feedback result d 1 Where d is 1 Corresponding to feedback results of formation spacing distance
Variable z 2 To estimate the separation distance feedback result d 1 Differential value of (u) stands for control command of wing plane
Variable z 3 For estimating the total disturbance of the system in real time, for estimating the external output variation and the uncertainty due to the internal disturbance, variable z 1 、z 2 Fed back to the output of the tracking differentiator, variable z 3 And feeding back the output of the nonlinear controller, observing and performing real-time tracking compensation.
Wherein, beta 01 ，β 02 ，β 03 For adjustable parameters of the controller, b 0 For determining the magnitude of the compensation, x is the error gain in the fal (x, a, delta) function, and a is a non-linear factorSub, δ is a filter factor.
Step S4.3 NLSEF nonlinear controller design
NLSEF generates corresponding tracking error signals based on output values of a tracking differentiator and an extended state observer, nonlinear combination is carried out on error results, past, present and future errors can be combined based on nonlinear combination of fal functions, and control signals u are obtained 0 And then a disturbance signal z output by ESO 3 And (3) performing dynamic compensation to form a control output instruction u:
wherein k is 1 ，k 2 For the adjustable parameters of the controller, the final control result comprises a nonlinear solving result and a disturbance compensation result, wherein b 0 The increase reduces chatter caused by disturbance, but the increase causes disturbance compensation to be reduced, and the effect of suppressing disturbance is reduced.
Compared with the traditional control mode, the invention designs a set of formation maintaining control flow based on 'chanter-bureaucratic' formation, and the control on the formation does not need real-time communication between the chanter-bureaucratic, but sends a motor command of the chanter and a formation interval command in advance, and the command is converted into a control command to be sent to the bureau by a formation controller, thereby realizing the maintenance of the formation.
The invention provides a formation control strategy based on ADRC, and the control based on ADRC not only can stably track the state of a system in real time, but also can compensate the interference inside and outside the system, thereby realizing the real-time accurate following of a wing plane to a long plane and ensuring the stability of system control.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle formation keeping control method based on an active disturbance rejection controller is characterized by comprising the following steps:
s1, the ground command center issues a formation maneuvering command to the long machine, and the specific command content comprises the expected speed V of the long machine lc Heading psi lc And a height z lc ；
S2, after the long machine receives the instruction, making a corresponding response according to the driver model, and feeding back the state parameters of the long machine in real time through a sensor: velocity V l Heading psi l And a height z l (ii) a The unmanned aerial vehicle pilot models corresponding to the captain planes and the bureaucratic planes are the same, and the corresponding state models are as follows:
wherein i = l, w respectively represent a lead aircraft and a bureaucratic aircraft, τ v 、τ ψ 、τ z1 And τ z2 Respectively are time constants for controlling speed, heading and altitude,
to correspond to the velocity V i Is determined by the first-order state value of (c),
for a corresponding heading angle psi i Of the first-order state values of (a),
to a corresponding height z i Of the first-order state values of (a),
to a corresponding height z i A second order state value of;
step S3, monitoring state parameters of a wing aircraft in real time by a sensor: velocity V w Heading psi w And a height z w And is input to the long machine synchronously with the state parameters of the long machineForming a complete feedback loop in the formation kinematic model, and outputting the interval feedback distance d by the formation kinematic model through calculation x 、d y And d z ；
S4, the ADRC controller receives a formation interval command d sent by the ground command center xc 、d yc And d zc And the interval feedback distance d of the formation kinematic model output x 、d y And d z Outputting control command V of wing plane through control operation wc Heading psi wc And a height z wc To a bureaucratic plane.
2. Method for the formation hold control of drone formation based on active disturbance rejection controllers, according to claim 1, characterized in that it is applied to a formation control system comprising a formation maneuvering command module, a formation interval command module, a longplane driver model, a formation kinematics model, ADRC controllers and a plug plane driver model.
3. A method for maintaining formation of unmanned aerial vehicles based on auto-disturbance rejection controller as claimed in claim 2, wherein the formation maneuvering command module is responsible for sending ground station leader control commands to the leader driver model, the formation bay command module is responsible for sending formation bay commands to the ADRC controller, the leader driver model and the wing driver model are used for receiving control commands and controlling the operation status of the unmanned aerial vehicle, the formation kinematics model is used for receiving status parameters of the leader and the wing, calculating the bay distance status between the leader and the wing in real time, the ADRC controller receives the formation bay commands and outputs control commands of the wing in combination with the bay distance status between the leader and the wing, thereby ensuring the maintenance of the formation.
4. The UAV formation queue control method based on the ADRC according to any one of claims 1 to 3, wherein the step S3 specifically comprises the following steps:
step S3.1, for the "longplane-bureaucratic" model, a formation geometric relationship diagram is established; selecting a ground coordinate system as a reference, wherein XOY is a ground horizontal plane coordinate system, and the Z axis is vertical to the horizontal plane direction;
corresponding to a coordinate of X on a long machine l 、Y l With a corresponding bureaucratic coordinate of X w 、Y w The distance between the two is d x 、d y The yaw angles of tractor and wing aircraft are psi l 、ψ w The speeds of tractor and wing tractor are V respectively l 、V w ；
Step S3.2, according to the above-mentioned geometric relationship of formation of unmanned aerial vehicles, the first derivative of the positions of long and wing aircraft
The following equation is satisfied:
step S3.3 from the formation geometry, the correspondence between coordinates can be found as follows:
derivation of the above equation and substitution into equation (2) yields:
based on the movement of the model in the XOY plane, the distance d in the Z-axis direction is corresponded z Is Z l -Z w In conclusion, the kinematic state model obtained after the solution is:
wherein the content of the first and second substances,
and
are respectively d x 、d y And d z The first order state value of (a).
5. The UAV formation maintaining control method based on the ADRC as claimed in claim 4, wherein in step S4, the ADRC controller comprises: TD tracking differentiator, ESO expansion state observation and NLSEF nonlinear controller.
6. The UAV formation queue keeping control method based on the ADRC of claim 5,
the TD tracking differentiator receives the command v of the formation interval and outputs a variable v 1 To track input queue interval instructions v, output variables v 2 To track the differential value of the input command v;
the ESO extended state observer outputs variable z according to the state feedback of the spacing distance between the long plane and the wing plane and the feedback of the control instruction of the wing plane 1 To estimate the separation distance feedback result d 1 Output variable z 2 To estimate the separation distance feedback result d 1 Differential value of, output variable z 3 For estimating the total disturbance of the system in real time;
NLSEF nonlinear controller according to v 1 、z 1 Difference of (v) 2 、z 2 Is detected, outputs a control signal u 0 And then a disturbance signal z output by an ESO extended state observer 3 Dynamic compensation is carried out to form a control command u of a wing plane.
7. The active disturbance rejection controller-based unmanned aerial vehicle formation queue keeping control method according to claim 6, wherein the TD tracking differentiator is specifically designed as follows:
designing a second order error differentiator to set the output variable v 1 To track input editingA team Interval instruction v, where v corresponds to a team Interval instruction
Variable v 2 The differential value of the input command v is tracked, and the state of the system is tracked in time through a differential signal, so that the overshoot of the control system is avoided; meanwhile, in order to relieve the high-frequency tremor problem, a steepest control comprehensive function fhan (x) is introduced 1 ，x 2 ，r，h)：
The TD tracking differentiator is specifically designed as follows:
and r and h are function adjustable parameters, r is used for controlling the tracking speed, and h is used for controlling the sampling step length.
8. The active disturbance rejection controller-based unmanned aerial vehicle formation queue keeping control method according to claim 6, wherein the ESO extended state observer is specifically designed as follows:
the state observer is used for observing the disturbance inside and outside the model, receiving the interval distance feedback result output by the formation kinematic model and the control instruction u of the wing plane in real time, and obtaining an output state variable z through calculation 1 、z 2 And z 3 (ii) a Setting the output variable z 1 To estimate the separation distance feedback result d 1 Where d is 1 Corresponding to feedback results of formation spacing distance
Variable z 2 To estimate the separation distance feedback result d 1 Differential value of (u) stands for control command of wing plane
Variable z 3 For estimating the total disturbance of the system in real time, for estimating the external output variations and the uncertainty due to the internal disturbance, variable z 1 、z 2 Fed back to the output of the tracking differentiator, variable z 3 Feeding back the output of the nonlinear controller, observing and carrying out real-time tracking compensation:
wherein, beta 01 ，β 02 ，β 03 For adjustable parameters of the controller, b 0 For determining the magnitude of the compensation, x is the error gain in the fal (x, a, δ) function, a is the non-linear factor, and δ is the filtering factor.
9. The active disturbance rejection controller-based unmanned aerial vehicle formation keeping control method according to claim 6, wherein the specific design of the NLSEF nonlinear controller is as follows:
the NLSEF nonlinear controller generates corresponding tracking error signals based on output values of a tracking differentiator and an extended state observer, nonlinearly combines error results, combines the past, the present and the future of errors based on nonlinear combination of fal functions to obtain a control signal u 0 Then the disturbance signal z is output by ESO 3 And (3) performing dynamic compensation to form a control output instruction u:
wherein k is 1 ，k 2 For the controller to adjust the parameters, the final control result includes non-linearitySolving a result and a disturbance compensation result; b 0 To adjust the parameters.
10. The UAV formation keeping control method according to claim 9, wherein b is a form keeping control method based on ADRC 0 The increase can reduce the vibration caused by disturbance, but the excessive increase can lead the disturbance compensation to be smaller, and the proper b is designed through simulation 0 。
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