高速近距无人机协同编队控制器设计研究
Study on the High-Speed and Close of the UVA Cooperative Formation Controller Design

针对高速飞行的无人机协同编队，机群中单机出现故障，需退出编队飞行，同时需快速近距或超近距重新编队问题。提出了一种快速近距协同编队控制器设计方法，弥补了突发"战事"鲁棒性低，时效性差的不足并对无人机编队飞行动态特性进行了分析。考虑到外界因素已知情形下，建立适合无人机纵向动力学模型和非定常气动力模型，根据编队速度、平尾偏角、推力矢量舵偏角及俯仰角速度作为控制器输入指令信号，研究编队飞行的动态特性。同时分析编队飞行间距误差收敛于很小固定值，协同飞行稳定性良好。仿真结果表明：该控制器能够有效提高近距或超近距重新编队的速度，而且能够保持协同编队飞行的稳定性，为高速近距无人机协同编队控制器设计提供一种思路。
Aiming at the high-speed flight of the UAVs cooperative formation, when a single UAV has occurred, need to exit the formation flight and be close or super close to form of the formation quickly. A fast close cooperative formation controller design method is proposed to make up for low the fighting robustness, and be shortcomings of timeliness poorly and analyze the dynamic characteristic of UAV formation flight. Taking the external factors known into consideration, setting up for the longitude maneuver of nonlinear thrust vector and unsteady aerodynamic model, according to the formation velocity, flat tail rudder angle and thrust vector and pitch angle velocity for corresponding input commend signals for the controller to research the dynamic characteristic of UAV formation flight. Meanwhile, the formation flight distance error is the convergence to a fixed value, and the stability of the cooperative formation flight is good. The simulation of results show that the controller can effectively improve the speed of the close or super close to formation, and maintain the stability of the formation flight, which provides a method of the close or super close formation flight controller design