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

Abstract

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

CLC Number:

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.

Figures/Tables 13

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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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Formation transformation strategy for manned/unmanned aerial vehicle formation based on human-machine cooperation

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