【摘要】 针对无人机紧密编队飞行问题,以"长机-僚机"编队模式为模型,提出了1种改进的编队飞行控制技术—局部综合制导与控制。该技术包含级联回路和动态逆回路,并使用完整的无人机六自由度非线性模型使得本文对无人机紧密编队飞行研究不再局限于目前基于模型的质点运动设计,有助于将研究的结果运用到未来真实的无人机编队飞行中。相对于常规的制导与控制设计,该方法可降低整体回路延迟。仿真结果证明,该方法可使无人机编队有效形成和保持队形,对于长机机动动作,僚机具有很好的跟随性,能得到较好的编队飞行结果。更多还原

【Abstract】 The close formation flight control problem of UAVs is addressed in this paper.With the lead-wingman formation model,an innovative partial integrated guidance control for formation flight control technology was proposed.The algorithm has two loops using cascade and dynamic inversion.Close formation flight of the UAV research is no longer confined to the design of the model based on particle motion and the full nonlinear six-DOF model of a real vehicle is considered for design in this paper.Relative to conventional guidance and control design,the method can reduce the overall circuit delay.The simulation result indicates that the proposed partial integrated guidance control technique is effective in bringing the UAVs into formation and also maintaining the formation with maneuver changes in leader aircraft,which proved the feasibility and effectiveness of the formation control laws.更多还原