有人/无人机编队队形集结控制研究

doi:10.12305/j.issn.1001-506X.2023.07.30

摘要/Abstract

摘要：

针对有人/无人机(manned/unmanned aerial vehicle, MAV/UAV)编队队形集结控制问题，设计了一种基于航迹规划-跟踪的MAV/UAV编队集结控制策略。首先，考虑编队队形集结边界约束与防碰撞约束条件，设计了一种基于Dubins曲线与协同模拟退火粒子群优化相结合的编队集结航迹规划算法。然后, 以规划得到的集结航迹作为期望航迹，设计了一种双回路结构的非线性路径跟踪控制方法。最后, 利用Matlab软件对设计的航迹规划与跟踪控制方法进行了仿真对比实验，仿真结果验证了方法的有效性和优越性。

关键词: 有人/无人机, 队形集结, 航迹规划, 航迹跟踪控制, Dubins-协同模拟退火粒子群优化算法, 非线性控制

Abstract:

In order to solve the problem of rendezvous control for manned/unmanned aerial vehicle (MAV/UAV) formation, a rendezvous control strategy for MAV/UAV formation based on path planning-following is designed. Firstly, considering formation rendezvous boundary constraint and anti-collision constrain conditions, a formation rendezvous path planning algorithm based on Dubins curve combined with cooperative simulated annealing particle swarm optimization (CSAPSO) is designed. Then, the rendezvous path generated is set as the desired path, a nonlinear path following control method using dual-loop structure is designed to track the desired path. Lastly, the simulation experiments of path planning and following control method are carried out by Matlab and results demonstrate the effectiveness and superiority of the proposed methods.

Key words: manned/unmanned aerial vehicle(MAV/UAV), formation rendezvous, path planning, path following control, Dubins-cooperative simulated annealing particle swarm optimization (CSAPSO) algorithm, nonlinear control

中图分类号:

V279

吴立尧, 苏析超, 王垒, 潘子双. 有人/无人机编队队形集结控制研究[J]. 系统工程与电子技术, 2023, 45(7): 2192-2202.

Liyao WU, Xichao SU, Lei WANG, Zishuang PAN. Research of formation rendezvous control for manned/unmanned aerial vehicles formation[J]. Systems Engineering and Electronics, 2023, 45(7): 2192-2202.

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参数	数值
N	5
集结高度h_d/m	3 000
MAV期望速度v_l/(m/s)	200
UAV期望速度v_f/(m/s)	200
队形参数$ (\Delta x, \Delta y)$	(200 m，200 m)
MAV最大滚转角$\phi_{l \max } $	π/3
UAV最大滚转角$ \phi_{f \max }$	π/3
MAV安全半径R_l/m	30
UAV安全半径R_f/m	20
粒子数M	20 000
最大迭代次数TT	50
学习因子c₁, c₂	15
初始温度T_i	100
结束温度T_f	1e-8
退火速率	0. 98
阈值$ \varepsilon$	0N01
惩罚因子k_inner	10 000
惩罚因子k_outer	10 000

参数	数值
MAV起飞状态(x, y, z, φ, θ)	(0, 0, 0, 0, 0)
舰面保障时间ΔT/s	40
航母速度V_ship/(m/s)	16
离舰速度V/(m/s)	120
MAV航迹倾角θ_max	π/3
UAV航迹倾角θ_max	π/4
MAV加速度/(m/s²)	30
UAV加速度/(m/s²)	20

参数	数值
MAV(x, y, φ)	(0 m, 0 m, 0)
UAV1(x, y, φ)	(10 000 m, -10 000 m, 0)
UAV2(x, y, φ)	(15 000 m, 8 000 m, π/4)
UAV3(x, y, φ)	(15 000 m, 8 000 m, 3π/2)
UAV4(x, y, φ)	(25 000 m, 10 000 m, 2π/3)
禁飞区(x_o, y_o, R)	(12 000 m, 6 000 m, 1 000 m)

算法	UAV1	UAV2	UAV3	UAV4	J
CSAPSO	2.9e－4	2e－3	1.6e－3	1.3e－5	4e－3
CGA	0.15	0.24	0.05	0.11	0.55

参数	数值
MAV(x_l, y_l, χ_l)	(0 m, 0 m, 0)
UAV1(x₁, y₁, χ₁)	(10 000 m, -9 950 m, π/4)
UAV2(x₂, y₂, χ₂)	(14 950 m, 8 050 m, π/4)
UAV3(x₃, y₃, χ₃)	(25 050 m, -10 000 m, 3π/2)
UAV4(x₄, y₄, χ₄)	(5 050 m, 6 000 m, 2π/3)