无人机近距编队飞行建模与仿真

无人机编队飞行有着单架无人机无法比拟的优点，但属于较新的研究领域。从无人机未来发展需求出发，根据近距编队的特点，提出了一种近距编队控制方法，并以双机近距编队为基础对控制律设计和算法实现进行了研究。通过建立僚机旋转参考系下的双机编队相对运动模型，同时考虑长机翼尖涡对僚机产生的气动耦合效应，基于PI控制设计了一种无人机近距编队飞行控制器，通过仿真验证和比较分析，证明僚机可以很好地跟随长机的机动保持编队构型，验证了提出的编队飞行控制方法的可行性和有效性。

Development of UAV Close Formation Flight Control

Unmanned Aerial Vehicle (UAV) close formation flight has the advantage that a single UAV cannot be compared with, which is a relatively new research field. According to the requirements for future UAV and the features of UAV close formation flight, the control of UAV flying in a close-coupled formation and corresponding implementing algorithm are studied. A proportional plus integral controller design methodology for use in the trail vehicle in a two-UAV formation is presented. The formation consists of a lead and wing aircraft, where the wing flies in close formation with the lead, such that the lead’s vortices produce aerodynamic coupling effects. The nonlinear kinematic of formation is modeled in the wing’s rotating reference frame. It is shown that formation hold autopilots designed with the aerodynamic coupling effects yields satisfactory performance in close formation flight. Simulation results demonstrate that wing aircraft can maintain a desired position relative to a lead aircraft throughout formation maneuvers. Furthermore, the results confirm the feasibility and validity of the method.