【作者】 刘成功；

【导师】 杨忠；

【作者基本信息】 南京航空航天大学 ， 导航、制导与控制， 2009， 硕士

【摘要】 多无人机(Unmanned Aerial Vehicle,UAV)协同编队飞行(Coordinated Formation Flight,CFF)在军事和民用领域具有广阔的应用前景,正受到越来越广泛的关注。以赶超国外先进水平为目标,面向UAV开展多学科交叉基础性技术研究,有着非常重要的现实意义。本文着重研究多无人机仿生紧密编队飞行控制问题。分析了候鸟编队飞行原理,讨论了无人机紧密编队飞行的仿生机理,建立考虑气动耦合效应的紧密编队飞行模型,设计了基于小脑模型神经网络(Cerebellar Model Articulation Controller,CMAC)与PID复合控制的队形保持控制器,并开展了CFF半物理验证。主要工作包括:1)研究了大雁等候鸟编队飞行的特点,并建立鸟类单只和编队模型进行理论分析。从控制策略和几种CFF队形调整方法,以及基准参考点的选取等方面对队形动态调整的原理与规则进行研究。2)分析了各种涡流模型的特点,研究了紧密编队飞行气动耦合问题,并建立了尾涡引起的上洗和侧洗流模型。通过仿真分析了升力、阻力和侧力变化与编队间距变化之间的关系,并确定了节省能量的编队结构,进一步验证了鸟群编队的省力结构。3)针对多无人机紧密编队飞行的特点,考虑相邻两机间的涡流效应,建立多无人机紧密编队飞行模型。提出了一种基于CMAC和PID复合控制的编队保持控制器,并通过仿真验证了其有效性。4)利用本实验室已建成的UAV飞控系统虚拟原型(基于Statemate软件包)和物理原型(基于32位高性能DSP的飞行控制计算机)搭建CFF半物理验证平台,并基于该平台进行紧密编队队形保持的仿真试验。结果表明所设计的控制器有效可行。更多还原

【Abstract】 The technology of multi-UAV coordinated formation flight is being concerned increasingly. It has extensive application perspective in military and civil industries. In order to catch up with foreign advanced level of the technology, it has an important practical significance to carry out a multi-disciplinary research of crossing technology.In this thesis, the topic of multi-UAV biomimetic close formation flight is studied. Based on the principle of migratory bird formation flight, the bionic principle of multi-UAV close formation flight is discussed. The close formation flight model with aerodynamic coupling is built. A formation keeping controller based on CMAC and PID is designed, and it is verified on the semi-physical verification platform of CFF. The main work of this paper is as follows:1) The characteristics of migratory birds flying in formation are introduced. This paper makes a theoretical analysis by establishing the bird’s single and formation models. The principles of formation dynamic adjustment are studied, such as control strategy, several methods of adjustment, selecting methods of formation reference point and so on.2) Many vortex models are analyzed and the aerodynamic coupling problem is studied in close formation flight. The models of upwash and sidewash caused by trail vortex are established. The relationship between the changes of the lift, drag and lateral force and the changes in distance is researched through the simulation analysis. The energy-saving formation structure is designed and verified.3) The model of multi-UAV close formation flight with vortex effects is established. A formation keeping controller based on CMAC and PID is proposed for multi-UAV formation flight control system. The simulation results have been included to demonstrate effectiveness of the proposed controller.4) The semi-physical verification platform of CFF is built. It contains the virtual prototype of flight control system based on the Statemate software and the physical prototype of flight control system based on the high-performance 32-bit DSP. Finally, a verification test for the close formation keeping controller based on the platform is done. The result shows that the controller is effective.更多还原