摘要
无人机编队飞行可以大幅提高作战效率,但也面临多机任务协同分配,传感器数据融合等问题。为提高对目标打击的成功率,从无人机近距离编队出发,采用长机-僚机结构,建立以僚机速度方向为X轴且建立固连于僚机的旋转坐标系,根据两机相对运动关系建立编队运动数学模型,设计一种小脑模型神经网络(CMAC)与PID并行控制器,以双机编队为基础对控制器进行仿真验证。仿真结果证明该控制器可以实现近距离队形保持与队形重构功能,与传统PID控制器相比,在受到干扰情况下,编队队形可以以更小调整快速恢复,并且在PID参数变动时,仍能完成队形保持与重构,具有更强的鲁棒性。
The formation flight of multi - unmanned aerial vehicles （UAVs） can gratefully enhance successful rate of battle mission, thus more and more researches have been done. This paper began with the close formation, taking the leader- follower structure and building a rotating frame using follower velocity as X axis and fixed on the follower, a controller working with CMAC and PID was designed, simulation was carred out to verify the controller based on double formation. The tests have improved that this controller can achieve the goal of formation keeping and reconfiguration. Compared with the traditional PID controller, the formation can recover with less time and overshoot in case of disturb, and when the PID parameters change, the controller can still achieve the goal of formation keeping and reconfiguration with strong robustness.
出处
《计算机仿真》
CSCD
北大核心
2014年第2期65-68,101,共5页
Computer Simulation
