基于人机合作的有人/无人机编队队形变换策略

doi:10.3969/j.issn.1001-506X.2020.02.24

摘要/Abstract

摘要：

队形变换是有人/无人机(manned/unmanned aerial vehicle, MAV/UAV)编队飞行的关键技术,为提高编队队形变换效率并减轻飞行员操纵压力,设计了基于人机合作的MAV/UAV编队队形变换策略。首先设计了MAV/UAV编队控制系统,然后在UAV运动学模型基础上设计了一种以路径跟踪为主,速度调节为辅的MAV/UAV编队队形变换策略。通过将水平转弯机动与虚拟力相结合,并考虑实际情况中编队内碰撞问题,设计了一种改进虚拟力路径跟踪方法;根据MAV与各UAV之间的路径差,设计各UAV速度控制律,使得MAV与各UAV速度与航向角一致,从而实现编队队形变换。仿真结果验证了所提方法的有效性和实用性。

关键词: 有人/无人机编队, 人机合作, 队形变换, 虚拟力法, 路径跟踪

Abstract:

Formation transformation acts as a key technology of manned/unmanned aerial vehicle (MAV/UAV) formation flight. A human-machine cooperation formation transformation strategy for MAV/UAV is proposed to improve transformation efficiency and reduce operational burden of the pilot. Firstly, an MAV/UAV formation control system is established, and a formation transformation strategy which integrates path following to speed tuning based on the UAV kinematics model is proposed. By combining the horizontal tuning flight maneuver and the virtual force while considering the collision problem, an improved virtual force method for path following is proposed. Then the speed control law of UAVs is designed according to the path differences between MAVs and UAVs. With both trajectory and speed variation, MAVs and UAVs can arrive at their given formation with consistent speed and heading angles. The transformation of formation is achieved by Matlab and the results show that the proposed method works well.

Key words: manned/unmanned aerial vehicle (MAV/UAV), human-machine cooperation, formation transformation, virtual force, path following

中图分类号:

吴立尧, 韩维, 张勇, 熊瑶. 基于人机合作的有人/无人机编队队形变换策略[J]. 系统工程与电子技术, 2020, 42(2): 434-444.

Liyao WU, Wei HAN, Yong ZHANG, Yao XIONG. Formation transformation strategy for manned/unmanned aerial vehicle formation based on human-machine cooperation[J]. Systems Engineering and Electronics, 2020, 42(2): 434-444.

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参数	数值
飞行高度h/m	8 000
MAV加速度a/(m/s²)	0
MAV航向角φ/rad	0
MAV/UAV飞行速度v/(m/s)	Ma=0.8
UAV最大飞行速度v_max/(m/s)	Ma=0.9
UAV最小飞行速度v_min/(m/s)	Ma=0.7
UAV最大滚转角φ_max/rad	π/3
UAV最大航向速率ω_max/(rad/s)	0.063
UAV初始航向角φ(0)/rad	0
UAV加速度a₁/(m/s)	32
保护区半径R/m	10
虚拟斥力范围上限L/m	50
MAV初始位置(x₀, y₀)/m	(0, 0)
虚拟弹簧系数k	1
虚拟阻尼系数c	2
虚拟斥力系数k_r^[33]	5

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